“…Complementary, the useful workspace is a regular geometric object located in the region of the workspace that satisfies some kinetostatics properties (Di Gregorio & Simas,
2016). Inspecting the workspace the chosen useful workspace is equal to the regular cylinder, with axis parallel to
‐axis, and delimited up and down by the planes parallel to
‐plane for
and
, respectively, defining the top and down surfaces.…”