# Generalized Ray-Based Lattice Generation and Graph Representation of Wrench-Closure Workspace for Arbitrary Cable-Driven Robots

> Research article (IEEE Transactions on Robotics, 2018) · cited 45× · AI/ML

**Wikidata**: [openalex:W2895873072](https://www.wikidata.org/wiki/openalex:W2895873072)  
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