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            <funder>This work was supported in part by the French National Research Agency (ANR) under grant 2009-SEGI-0018 (CoGiRo ANR project) and in part by the Région Languedoc-Roussillon under grant 115217.</funder>
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              <p>In the cable-driven robot studies, the mass and the elasticity of cables are often ne- glected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.</p>
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