“…b) Else (i.e., ) is one of the solutions of (15) (16) (17) where and are the distances from the origin of the wrench space to the faces of defined by and (i.e., the three faces of that contain ). This proposition refines the results presented in [29] and, in order to obtain , it is applied considering all the possible relations between the upper bound, the internal bounds, and the types of directional ranges, obtaining the following result. Fig.…”