Figure 1.

Salient points of the testing-tasks in end-effector space. The solid line delimits the workspace of the kinematic chain. For point-to-point testing tasks, the red cross represents the initial position of the arm, and the blue dots indicate the final targets. For reversal tasks, the red cross represents the initial and final position of the arm, and the blue dots illustrate the intermediate targets. Finally, for the via-point reaching tasks the red cross indicates the location of the via-point, and the blue dots represent the initial and the final positions of the arm. In the text, the joint configuration vector corresponding to the red cross is referred as q_c.