FIGURE 3.

(A): Considered workspace of the robot, consisting out of 2601 positions represented by the centres of unit spheres. The dimensions of the workspace are $x\in [-0.8,0.8]$, $y\in [-0.8,0.8]$ and $z\in [0,1]$, the resolution is 0.1 m. (B): 50 orientations of the ^ee $z$‐axis (shown in blue), defined by the direction from uniformly distributed points on the surface to the centre of the sphere. (C): Each of these 50 orientations is additionally rotated by 30° steps in a range from −180° to 150° to include all possible rotations around the ^ee $z$‐axis. To provide a better overview, only three rotations are shown. The ^ee $x$‐axes are red, while ^ee $y$‐axes are represented by green arrows.