ignored.$)($Worth $5\%)$

Question $3$

Give a reasoned explanation as to why the outer border has $3$ rounded corners unlike the inner

border? $($Limit your answer to $500$ characters only. Any longer answers will be ignored.$)($Worth $5\%)$

Question $4$

Explain what would exactly happen if the paper and all

work objects were moved $330mm$ along the $y-$axis,

$40mm$ along the negative $x-$axis, and rotated $-90$ so that

the paper was centred in front of the robot as shown in

the diagram? Assume that the pen cup and all pen pick

up target points are moved $50mm$ along the $y-$axis as

shown and all robot axis configurations issues are dealt

with. $($Limit your answer to $800$ characters only. Any

longer answers will be ignored.$)($Worth $15\%)$

Question $5$

The diagram shows the inner boarder in the new central

location as described in the previous question. What

would happen if the $2$ border sides shown in orange were

drawn with joint interpolation commands $($i$.$e$.$ MoveJ$)$

rather than the linear interpolation $($i$.$e$.$ MoveL$)$

commands used in your program? As part of your answer

explain why this robot would move in this manner using

joint interpolation for these two particular trajectories?

$($Limit your answer to $800$ characters only. Any longer

answers will be ignored.$)($Worth $20\%)$

Question $6$

Again using the previous diagram, what would happen if the $2$ other border sides $($shown in grey and

not orange$)$ were drawn with joint interpolation commands $($i$.$e$.$ MoveJ$)$ rather than the linear

interpolation $($i$.$e$.$ MoveL$)$ commands used in your program? As part of your answer explain why this

robot would move in this manner using joint interpolation for these two particular trajectories?

$($Limit your answer to $800$ characters only. Any longer answers will be ignored.$)($Worth $20\%)$