"5. what are the arguments both for and against the exclusive use of boolean expressions in the control statements in java (as opposed to also allowing arithmetic expressions, as in c++)? "

Let r be a robotic arm with a fixed base and seven links. the last joint of r is a prismatic joint, the other ones are revolute joints. give a set of parameters that determines a placement of r. what is the dimension of the configuration space resulting from your choice of parameters?