FIGURE 12.

Visualisation of resulting tool geometries ^tcp $T_{ee,\max }$ in scenario 2 for target pose 1 (A), target pose 2 (B) and target pose 3 (C). For target pose 1 the rotation angle is $76.2°$ with an axis of ${(0.93,0,-0.37)}^T$. For target pose 2 the rotation angle is $78.1°$ with an axis of ${(0.98,-0.11,0.19)}^T$ and for target pose 3 the rotation angle is $22.6°$ with an axis of ${(0.70,0.71,0)}^T$.