Q 4(a) [5 Marks] How are smal changes to the current end effector position handled?• 4(b) [6 Marks] How can differential changes in position of the end effector of a manipulator that are described...

Q 4(a) [5 Marks] How are smal changes to the current end effector position handled?• 4(b) [6 Marks] How can differential changes in position of the end effector of a manipulator that are described relative to the end effector frame be determined relative to the base frame? Explain your answer using the appropriate mathematical equations.Q 4(c) [7 Marks] A robot moves its end effector using the following transform relative to the base frame.0 1 0 31 1 0 0 1 0 0 —1 0 0 0 0 1It is then found that the position must be corrected by 0.1 radians around the end effector x-axis and 0.01 units along the end effector z-axis. How are these changes expressed relative to the base frame?