How to find Tangent Normal Binornmal vectors of parametric knot

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I am given parametric equations of torus knot:

$$x = (a+b\cos(qt))\cos(pt)$$ $$y= (a+b\cos(qt))\sin(pt)$$ $$z= c\sin(qt)$$ where $0<t<2\pi$.

I need to find Tangent, Normal and Binormal vectors. Please explain me so that I can understand. Thanks!