The working space refers to the set of directions that a specific part of the robot arm can reach under certain conditions. The nature and size of the workspace reflect the size of the robot's working capacity. When understanding the robot's working space, pay attention to the following:
1) The working space indicated in the clarification book of general industrial robots refers to the range that the origin of the mechanical interface coordinate system on the wrist can reach in space, that is, the center point of the flange at the end of the wrist can reach the range in space, not the range that can be reached by the end actuator end. Therefore, when planning and selecting, it is necessary to pay attention to the working space that the robot can actually reach after the end actuator is installed.
2) The working space provided in the robot clarification book is often less than the maximum space in the kinematic sense. This is because the payload, maximum allowable velocity and maximum acceleration are different in the reachable space, and the maximum allowable limit in the maximum azimuth of the boom is generally smaller than in other directions. In addition, there may be a problem of degree of freedom degradation at the maximum achievable space boundary of the robot, and the pose at this time is called singular position, and the degree of freedom evolution phenomenon will be presented in a considerable range around the singular position, and this part of the working space cannot be used when the robot is operating.
3) In addition to the edge of the working space, the industrial robot in practical application may also be constrained by the mechanical structure, and there is also an area that cannot be reached by the end of the arm in the working space, which is often called a pan or cavity. A cavity is a completely closed space that cannot be reached by the end of the arm in the work space. Emptiness, on the other hand, refers to the space that cannot be reached at the end of the upper arm along the entire length around the shaft.
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