[7.] Rotate P(1.5, 1.7, 0.5) on a fixed arm of a robot around the Z-axis by 15 degrees several times until it gets as close as possible to 217 degrees. After that continue in steps of 0.045 degrees until it cannot go any closer to the final/desired 217 degrees target. (i) How many steps do you have to perform to get the closest to the final destination from its initial position? (this is the first approach)