Given a robotic system that the relationship between the linear velocities and joint parameters is a b B-6: d] = -a g feq 0 d fl Considering the seven digits of your student ID number = a-b-c-d-e-f-g Find the parameters of q if the velocities are vx = 4 m/s, vy= 7 m/s, and v = -2 m/s.