Math & Kinematics

Workspace Analysis

Workspace analysis is the characterization of a manipulator's attainable pose set, including its boundary, volume, and dexterity distribution, computed analytically for simple chains or numerically by sampling forward kinematics into reachability maps. Quality measures such as Yoshikawa's manipulability index quantify how well-conditioned motion is at each configuration, guiding robot selection, base placement, and task positioning within a cell.

Why it matters for physical AI

Precomputed reachability and dexterity maps let mobile manipulators choose base poses from which grasps are actually feasible, a quietly critical component in most manipulation-in-the-wild systems.