This is what I tell the mechanical engineers who want to know where they can run pipes and ducts.
(1) The space directly above the panel (i.e., the 22 inch by 6 inch footprint) is mine. If they need to run anything directly over a panel, it must be 6 feet above the top of the panel, and there must be a drip shield. That's the "dedicated space."
(2) As I stand in front of the panel, anywhere within the "working space," the space over my head must be kept clear, from the floor to 6.5 feet above the floor. That's the "headroom."