Abstract: Analyzing robotic workspace and dexterity play significant role for it’s designing, planning and controlling. But it is difficult for high – dimension articulated robot with limited joint angle, and still not addressed in robot real-time planning and controlling. The workspace and dexterity of EMR system robot is analyzed with algebraic method and geometric method separately According to its’ mechanical structure and task feature. The result can be used in its’ real-time planning and controlling with little computed time.

Key words: Dexterity, Robot, Workspace