Measure
Workspace and payload
You might say: reach, how much it can lift
Workspace is the set of tool poses the mechanism can reach. Payload is the load it can carry at a specified pose and speed.
- What it does
- It decides whether the task fits the robot's geometry and load envelope.
- Ask
- Are all target poses reachable and dexterous with the required payload?
- Typical
- Universal Robots lists the UR10e at 1,300 mm reach and 10 kg or 12.5 kg maximum payload. The exact usable payload depends on pose, speed and tool configuration.
- Trouble
- A target can be position-reachable but orientation-infeasible, outside the dexterous workspace, or too heavy at that pose.
What to look for
- Tool poses inside the reachable set
- Payload at a specified pose and speed
- Position-reachable but orientation-infeasible targets
- Load beyond the usable envelope
Sources
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 2 §2.5
The workspace is defined to be the subset of the task space that the end-effector frame can reach.
- Universal Robots, Technical Specifications UR10e, Technical specification
Our most versatile robot, the UR10e delivers an impressive payload of 12.5 kg and 1300 mm reach, making it ideal for a wide range of applications.
- Mark W. Spong, Seth Hutchinson and M. Vidyasagar, Robot Modeling and Control, Ch. 1 §1.1.4
The reachable workspace is the entire set of points reachable by the manipulator, whereas the dexterous workspace consists of those points that the manipulator can reach with an arbitrary orientation of the end effector.
Use it on your project
teardown-apply: hold "Workspace and payload" (workspace) from the teardown at https://teardownatlas.com/robotics/ against my project
Paste it into a coding agent that has the teardown skills.
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