Workspace

A robot's workspace is the set of all positions (and orientations) that the end-effector can reach given the robot's kinematic structure and joint limits. The reachable workspace is all positions the end-effector can reach in at least one orientation; the dexterous workspace is the smaller subset reachable in every orientation — the most useful region for manipulation tasks requiring arbitrary approach angles. Workspace analysis informs cell layout (how far apart robots and parts should be), robot selection (matching reach to task layout), and motion planning (identifying singularity-free paths across the workspace).