FIGURE 6.

Visualisation of upright base positions for target pose 2 in scenario 1. In A, the base positions without adapted tool geometry ( ^tcp $T_{ee,ref}$) are shown for comparison. In B, the distribution of base positions for the adapted tool geometry ^tcp $T_{ee,\max }$, resulting in the maximum number of base positions with a reachability value $D_{i,cor}$ > 0.75, is shown.