I do mine on a Singer 301 with a 7 1/4" throat - though the opening is a little higher that some of the modern machines. FMQ, SITD and on the last one thread painting the images. My little machine does whatever I want her to.
Leah Day had a series of FM lessons that started last Wednesday. I'm sure the intro and the first lesson are still up. The next lesson will be posted Wednesday and a new one every Wednesday after that. It does start very simply. Here is the intro to " The Free Motion Quilting Project".
http://www.freemotionquilting.blogsp...tart-here.html
Make a sandwich to practice on and have fun. The hardest thing for me was the concept that I could sew backwards by moving the fabric. We are so attuned to sewing forward.