Workspace Guidelines

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Description

This page describes the workspace reach dimensions for the Rethink Robotics Robots.

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Work Envelope Dimensions

Task map

The gray, overlapping shapes—called the workspace—represent the maximum mechanical reach of each of the Baxter arms if the arms are fully extended and parallel to the shoulder joint. Baxter can execute actions within this area.

The overlapping darker area towards the center of the workspace indicates the area shared between both arms, enabling the arms to operate within the same workspace.

Note: The robot's arms move within a sphere defined by the center point of the shoulder axis and the full reach of the arm. The actual reach of the arm at any given location is affected by the height of the robot's arm and angles of the joints. Actions are therefore limited at different heights and joint angles. The approach and retract distances for an Action may also limit where the Action can be performed.

Tip: Baxter performs tasks more efficiently when the objects are located close to the center of the workspace. Tasks trained at the extremes of the workspace approach joint limits and are sometimes more difficult to execute consistently.

The ability of Baxter to perform actions at any given location is affected by the physical limits of the arms. When training an action, consider:

  • Each of the robot’s joints has limits. The closer you are to the edge of these limits, the greater the chance the robot will be unable to train an action.
  • If the orientation of the training cuff on demonstration is twisted near a limit, the robot may have trouble when you run the task. If you notice Baxter cannot reach a location, try moving the location closer to the robot, or re-train the location. If the arm icon on the task map is grayed out when trying to train a new point or action, this means the arm is likely at a joint limit and will not allow you to save that point.
  • The possible vertical range of an action is reduced as you move closer to the edges of the maximum available workspace of the robot.

Workspace Drawings

Baxter Workspace Drawing (PDF)

For access to 3D models please Contact Rethink Robotics Support

Workspace Reach Profile

Workspace side.png

Workspace Reach Overhead

Workspace overhead.png

Baxter Dimensions Front

Workspace front.png

Pedestal Footprint

Workspace top.png

Pedestal Height Offset

Pedestal height.png

Work Envelope Dimensions

Task map

The gray circle around the robot's icon, called the workspace, represents the maximum mechanical reach of the Sawyer Robot Arm when the arm is fully extended and parallel to the shoulder joint. Sawyer can be trained to execute actions within this area.

Note: The robot's arm moves within a sphere defined by the center point of the shoulder axis and the full reach of the arm. The actual reach of the arm at any given location is affected by the height of the robot's arm and angles of the joints. Actions are therefore limited at different heights and joint angles. The approach and retract distances for an Action may also limit where the Action can be performed.

Sawyer's ability to perform actions at any given location is affected by the physical limits of the arm. When training an action, consider:

  • Each of the robot’s joints has limits. The closer you are to the edge of these limits, the greater the chance the robot will be unable to train an action. See Elbow Management for more information.
  • The possible vertical range of an action is reduced as you move closer to the edges of the maximum available workspace of the robot.




Workspace Drawings

Sawyer Workspace Drawing (PDF)

For access to 3D models and the above drawing in DWG format, please Contact Rethink Robotics Support

Basic Overview

Sawyer Reach Dimensions.png

Top Down View

Sawyer Top Down View Workspace.PNG

Side View

Sawyer Side View Workspace.PNG

Next Step

Robot Setup