Problem 2 The data acquisition of a robotic system acquires four measurements, which are related to the moving velocity of the end-effector in three directions. The relationship between the linear velocities and joint parameters can be described as the following equation Uz 1 0 24 = -1 2 3 1 q 3 1 48 (2a) What is the dimension of the corresponding dimension of the pseudoinverse Jacobian matrix? (A) 3x4 (B) 43 (C) Can be 3x4 or 43 (D) Can be 3 x 3 or 44 (E) 6x3 (2b) Find the pseudoinverse Jacobian matrix of this system. (A) -0.98 -0.16 0.53 -1.02 0.16 0.47 0.23 0.20 -0.11 0.38 -0.06 -0.08 (B) -0.98 -0.16 0.53 -1.02 0.16 0.47 0.23 0.20 -0.11 (C) -0.98 -1.02 0.23 0.38 -0.16 0.16 0.20 -0.06 0.53 0.47 -0.11 -0.08. (D) -0.32 0.75 0 0.5 0.42 -0.76 0 0.866 0 0 1 0 0 0 0 1 (E) None of the options (2c) Find the parameters of q if the velocities are v. = 1 m/s, v, = 4 m/s, and v = -5 m/s. (A) 1 4 (B) -5 0.5 4.2 -0.37 5 (C) 4 1 (D) 1.07 1.93 0.49 -0.26 (E) None of the options