10.9.1. Types of Workspace

Try these first

1. 1.

   Define reachable workspace in your own words.

   Hint

   Think about the robot's arm extensions.

2. 2.

   What does dexterous workspace mean?

   Hint

   Consider the flexibility of movement.

3. 3.

   What is reachable workspace?

   • Positions only
   • Positions and orientations
   • All positions the robot can reach

   Hint

   Focus on the physical limitations.

4. 4.

   Dexterous workspace is defined by:

   • True
   • False

   Hint

   Consider flexibly positioning the end-effector.

5. 5.

   Design a robotic system for painting rooms with unique and varying dimensions and border conditions. Discuss how to establish its reachability, dexterity, and task-specific workspace.

   Hint

   Consider the operational environment and adjust the design accordingly.

6. 6.

   Evaluate a scenario where a robotic arm with limited joint mobility is required to operate in a cluttered environment. What implications does this have on reachability and task specificity?

   Hint

   Examine potential navigation strategies.