Hello. I have a husky and a ur3 robot arm above the husky. I want to ask you if you know what are the limits of ur3 without collide with husky and secondly how far can ur3 go (I know it is 0.5 meters) ,but I want to know the positions limits (x,yz). For example, if I give (x,y,z)=(4,2,1) ,(these coordinates are in world frame), can I go there?, because ur3 can go up to 0.5 meters. Is there any formula to calculate all these or a site explaining this?

Thanks in advance.