Workspace analysis determines the set of poses a robot’s end-effector can reach, characterising the reachable and dexterous workspaces of a manipulator. It uses forward kinematics and joint-limit constraints to map the volume and shape of attainable positions and orientations. Workspace analysis guides robot selection, cell layout, task placement and reachability assessment for a given manipulator.
Overview
- Characterises the reachable and dexterous workspace of a robot.
- Built from forward kinematics under joint-limit constraints.
- Informs robot selection, layout and task placement.
Key aspects
- Reachable versus dexterous workspace distinction.
- Joint-limit and link-length influence on workspace volume.
- Boundary and singularity surfaces within the workspace.
- Sampling and analytic methods for workspace computation.
Applications
- Robot selection and sizing for a task.
- Work cell layout and fixture placement.
- Reachability checks in motion planning.
- Design optimisation of manipulator geometry.