Interference detection for cable-driven parallel robots (CDPRs)

The main advantage of CDPRs is large workspaces. However, multiple legs and large workspace are both factors for interference. We consider a CDPR platform within a 6D workspace, and as sources of interference the collisions with the robot's environment and self interference. We present two algorithms and their interval analysis-based applications to handle the different types of interference. Finally, the efficiencies of the algorithms are presented.