The problem is to limit the motion of a robot so that if it is commanded to work outside of its workspace, then the robot experiences a graceful degradation of performance depending upon the extent of the workspace violation.  This is demonstrated with Stewart tables, which provide six degrees of freedom. This research is used by NASA in creating a simulator for a lunar terrain vehicle. This is real applied mathematics, showcasing ODEs, the Lie group SE(3), and its Lie algebra se(3).