# Efficient Wrench-Closure and Interference-Free Conditions Verification for Cable-Driven Parallel Robot Trajectories Using a Ray-Based Method

> Research article (IEEE Robotics and Automation Letters, 2019) · cited 28× · AI/ML

**Wikidata**: [openalex:W2974535109](https://www.wikidata.org/wiki/openalex:W2974535109)  
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