A robot's workspace is the total volume swept out by the end effector as the manipulator executes all possible motions. The shape of the workspace dictates the applications for which each design can be used. This Demonstration lets you load several robot designs to compare their workspaces. You can set the position and range for each joint using sliders.
http://demonstrations.wolfr...... Aaron T. Becker, Benedict Isichei, Muhammad Sultan and Maruthi S. Chemudupati "Robot Manipulator Workspaces" Wolfram Demonstrations Project Published: December 13, 2017