Confirmed Within Malleable Robot AR World Anchor Reconfiguration Workspace Desired Distal Link Position Reconfiguration Workspace (a) (b) (c) Suggested Reconfiguration and Workspace (d) Desired End-Effector Vector (e) (f) (g) (h) (i) (j) (k) (l) Figure 6. An illustration of the workflow of the AR-assisted reconfiguration app, where the top row is the scene at the robot base, and the bottom row is the corresponding instruction panel. (a) An initial alignment of the robot base; (b) the reconfiguration workspace of the robot is shown; (c) a holographic end effector is generated for the user to place at a desired location; (d) checking whether the end effector is situated within the reconfiguration space; (e) the system displaying the vector of the end effector; (f) reloading the holograms, and the user confirms the desired end-effector location; (g)-(i) the suggested reconfigurations of the robot and the resulting workspaces they generate are shown; (j) the user selects a reconfiguration and proceeds with reconfiguration assistance; (k) an animated guidance with holograms aids the user in reconfiguration; and (l) a correctly aligned end effector postreconfiguration. This workflow can also be viewed in the linked time stamp of the supplementary video at https://youtu.be/ HgHEnruNgeI?t=30. 16 * IEEE ROBOTICS & AUTOMATION MAGAZINE * MARCH 2022https://youtu.be/HgHEnruNgeI?t=30 https://youtu.be/HgHEnruNgeI?t=30