I have been watching Kevin Lynch's videos on Coursera in this series on the basics of robotics. From that I gathered these are the definitions.
configuration space is the space of all configurations of the robot.
workspace is a specification of the configurations that the end-effector of the robot can reach
task space is a space in which the robot's task can be naturally expressed
Is the workspace contained in the configuration space since the end-effector is part of the robot? I understand that the configuration space is for each rigid link of the robot from this answer and the end-effector is a link.
Is it possible to have a task space that is beyond the configuration space?