Position monitoring of a kinematic linkage

A method for monitoring positions of kinematic linkage in relation to a predefined monitoring space, comprising:

• modeling at least a part of the kinematic linkage with a number of kinematic objects having fewer than two dimensions;
• for each kinematic object, modifying at least one geometric variable of the predefined monitoring space by a distance being derived from at least one geometric parameter of each respective kinematic object;
• and
• checking the positions of each of the kinematic objects in relation to respective modified monitoring spaces.

A method for determining movement of kinematic linkage in relation to a predefined monitoring space, the method comprising:

• modeling at least a part of the kinematic linkage with a number of kinematic objects in less than two dimensions;
• modifying at least one geometric variable of the predefined monitoring space by a distance corresponding to at least one geometric parameter of a first one of the kinematic objects;
• and
• modifying at least one geometric variable of the predefined monitoring space by a distance being derived from at, least, one geometric parameter of a second one of the kinematic objects;
• checking a position of the first one of the kinematic objects in relation to the monitoring space as modified for the first kinematic object;
• and
• checking a position of the second one of the kinematic objects in relation to the monitoring space as modified for the second kinematic object.