Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 16

The workspace of a manipulator is the total volume swept out by the end effector as the manipulator executes all possible motions. The workspace is constrained by the geometry of the manipulator as well as mechanical constraints on the joints. For example, a revolute joint may be limited to less than a full 360° of motion. The workspace is often broken down into a reachable workspace and a dexterous workspace. The reachable workspace is the entire set of points reachable by the manipulator, whereas the dexterous workspace consists of those points that the manipulator can reach with an arbitrary orientation of the end effector. Obviously the dexterous workspace is a subset of the reachable workspace. The workspaces of several robots are shown later in this chapter.