  We use topological techniques to do a workspace analysis of the Canfield
Joint, a mechanical linkage constructed with two plates connected by three
legs. The Canfield Joint has three degrees of freedom and can be controlled
using three actuators attached to the base in strategic positions. In the
process of performing the workspace analysis, we describe a new method of
controlling the Joint which includes elements of both forward and inverse
kinematics. This control process is then used to answer the question of how the
workspace of the joint changes in the possibility of a failure mode where one
degree of freedom is lost.
