Plenary lecture 8: workspace evaluation for analysis and synthesis of manipulator

Manipulator workspace is illustrated by discussing its basic characteristics as fundamental for design and operation of mechanical systems in manipulation applications. Algorithms are explained for numerical evaluation of the workspace of serial and parallel manipulators. Formulations are discussed also for design purposes. Design problem for manipulators is formulated by using workspace characteristics. Experimental procedures for workspace determination are outlined both for model validations and performance evaluation.