TABLE 2.

Maximum number of possible base positions with a reachability value $D_{i,cor}$ > 0.25 for target pose 1 and target pose 2) as well as $D_{i,cor}$ > 0.75 for target pose 3 for the appropriate tool transformation for scenario 2. The area for the robot to be placed is additionally restricted. In addition, the maximum and mean of the considered reachability values are specified. The values for the reference tool geometry ^tcp $T_{ee,ref}$ are given for comparison.

	No. Of bases		Mean		Max
Target area	tcp $T_{ee,ref}$	tcp $T_{ee,\max }$	tcp $T_{ee,ref}$	tcp $T_{ee,\max }$	tcp $T_{ee,ref}$	tcp $T_{ee,\max }$
Target pose 1	—	4	—	0.31	—	0.34
Target pose 2	—	82	—	0.49	—	0.72
Target pose 3	42	55	0.82	0.83	0.98	0.96