用服务球和服务区概念给出了五自由度机器人工作空间任意点的灵活度定义，提出了工作空间灵活性的分析方法。
Firstly , using concept of service sphere and service section , definition of dexterity was proposed at any point inside the workspace of the five degree of freedom robot ; then , analysis method of workspace dexterity was proposed .
五度空间