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Illustration of the effect of the robot’s kinematic redundancy on the beam selection. (a–c) show the projections for the same ultrasound transducer pose and the same beam node but the elbow in a left, up and right position. Note that the beam is blocked in (b). Considering that the robot could move the elbow without changing the ultrasound transducer pose, we only need to remove beams that overlap with the intersection of the projections as illustrated in subfigure (d).
