I decided that for this assignment that I wanted to try to actually write legible words because I thought that some of the challenges involved in doing so would help me gain a better understanding of the robot’s range of motion.  The main challenges I faced were: 1) manipulating the robot so that the writing at least had the appearance of being in the same plane and in a relatively straight line, 2) determining a good scale and spacing for the letters so that the robot would reach to write all of them and so that it would all be visible in one photograph, and 3) determining where the writing plane would be located to maximum the scale and spacing.  It took a little while to get used to manipulating the robot and dealing with the above described restrictions and I think that my photographs may reflect that: