1. Tutorial 4 Direct Kinematics (on the board) Workspaces

2. Dextrous workspace – the volume of space which the robot end-effector can reach with all orientations Reachable workspace – the volume of space which the robot end-effector can reach in at least one orientation

3. If L 1 =L 2 then the dextrous workspace is the origin point, and the reachable workspace is a full disc of radius 2L 1 If then the dextrous workspace is empty and the reachable workspace is a ring bounded by discusses with radiuses |L 1 - L 2 | and L 1 +L 2 Workspaces

4. The dextrous space is always a subset of the reachable space