Math & Kinematics

Workspace

A workspace is the set of poses a robot's end effector can attain, determined by link lengths, joint limits, and kinematic structure. The reachable workspace contains every attainable position, while the dexterous workspace is the subset reachable with arbitrary end-effector orientation. Workspace boundaries coincide with kinematic singularities, near which dexterity and achievable velocity degrade.

Why it matters for physical AI

Task feasibility starts with geometry: policies, planners, and cell layouts all inherit hard limits from the workspace, and mobile manipulation exists largely to relocate a finite arm workspace through a large environment.