I. Introduction
As of a 2017 report from the American Road and Transportation Builders Association, nearly 56, 000 bridges are structurally deficient across the United States [1]. Currently, most bridge inspection is performed by certified bridge inspectors using bucket trucks, lifts, and/or rope access. These methods incur large costs and risks to both the inspectors and drivers passing on the bridge. The development of a cable-suspended inspection robot could mitigate the risks and costs and provide efficient inspections. A well known example of a cable-suspended robot is the Skycam, shown in Fig. 1. Robots of this type are known as Cable Driven Parallel Manipulators (CDPMs).