HRI Workspace Visualization

Configuration Space, Task Space & Human Workspace

Human-Robot Interaction Course
Understanding Robotic Workspaces
A comprehensive guide to configuration space, task space, and human workspace in HRI

In robotics and human-robot interaction, understanding the different spaces in which robots and humans operate is fundamental to designing safe and effective collaborative systems. This interactive simulation explores three key concepts: Configuration Space, Task Space, and Human Workspace.

Configuration Space (C-space)
The space of all possible robot configurations

The configuration space represents all possible joint configurations of a robot. For a 2R planar robot, this is the set of all (θ₁, θ₂) pairs.

Key Points:
  • Topology: Torus (wrapped edges)
  • Obstacles create forbidden regions
  • Joint limits restrict the space
Task Space
The space where tasks are performed

The task space is typically Cartesian space where the end-effector operates. It defines where the robot can reach and perform tasks.

Key Points:
  • Workspace is an annulus for 2R robot
  • Singularities at boundaries
  • IK may have multiple solutions
Human Workspace
Subset constrained by human reachability

The human workspace considers ergonomic constraints and comfort zones, defining safe regions for human-robot collaboration.

Key Points:
  • Limited by arm kinematics
  • Comfort zone is smaller
  • Shared workspace = intersection
Space Relationships
How the three spaces are connected
C-space
(θ₁, θ₂)
Joint angles
Forward Kinematics
→
Inverse Kinematics
←
Task Space
(x, y)
End-effector position
Intersection
∩
Human Space
Reachability
Comfort constraints
The shared workspace is where human-robot collaboration can safely occur
Getting Started