Workspace The analysis of the workspace is very important for the design, selection and programming of robots. The workspace W is the set of positions and orientations reachable by the robot end-effector. The boundaries are defined by the singularities and the joints limits. Depending on their configuration and size of their links and wrist joints, robots can reach a collection of points called a workspace.Let q be an element of joint space and X be the corresponding element in the task space. X=f(@) The joint domain Q is defined as the set of all reachable configurations taking into account joint limits. Q = {4 | Gimin $41 $ dimax V i= 1, ...4n} The image of Q by the direct geometric model DGM defines the workspace W of the robot. W=fQ,PLANAR 3R MANIPULATOR Workspace: All (x, y, @) such that inverse kinematic solution exists. Planar 3R Manipulator Workspace of a planar 3R robotbhi th a thy oe Projection of a workspace of a planar 3R robot