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. 2024 Dec 27;21(1):e70037. doi: 10.1002/rcs.70037

FIGURE 7.

FIGURE 7

Visualisation of upright base positions for target pose 3 in scenario 1. In A, the distribution of base positions without adapted tool geometry ( tcp Tee,ref) is presented. It can be seen that this is the same distribution as in B, where the distribution of base positions for the adapted tool geometry tcp Tee,max, resulting in the maximum number of base positions with a reachability value Di,cor > 0.75, is shown. Thus, for target pose 3, base positioning cannot be improved by an appropriate tool geometry.