10.9. Workspace Analysis

Try these first

1. 1.

   What is the reachable workspace?

   Hint

   Think about where the robot can extend its arm.

2. 2.

   Name one factor that affects workspace.

   Hint

   Consider the robot's components.

3. 3.

   What does the reachable workspace encompass?

   • Only the points reachable in one orientation.
   • All points reachable in all orientations.
   • Only task-specific areas.

   Hint

   Consider all the positions the robot's arm can move into.

4. 4.

   True or False: Dexterous workspace is the same as reachable workspace.

   • True
   • False

   Hint

   Think about what the definitions imply.

5. 5.

   Given a 3-DOF robotic arm with joint limits ranging from 0 to 90 degrees, calculate the reachable workspace considering a fixed link length. Explain your method.

   Hint

   Consider how each joint's angle will affect the position of the end-effector.

6. 6.

   Design a simulation that determines the dexterous workspace of a robotic arm in a cluttered environment. Describe your approach and the key factors to consider.

   Hint

   How can you simulate the robot's movements?