FIGURE 8.

Visualisation of resulting tool geometries ^tcp $T_{ee,\max }$ in scenario 1. A: For target pose 1 the rotation angle of ^tcp $T_{ee,\max }$ is $49.2°$ with a rotation axis of ${(0.99,0,-0.16)}^T$. B: The respective rotation angle of ^tcp $T_{ee,\max }$ for target pose 2 is $23.3°$ with an axis of ${(0.69,0.36,-0.63)}^T$. C: For target pose 3, base positioning cannot be improved by an adaption of the reference tool geometry.