I'm working with a 4DOF Parallel-Mechanism arm. I'm interested in writing planners for this arm (PRM or RRT) in the configuration space, but I'm not sure how to identify obstacles/collisions.
When writing planners for mobile robots in a 2d workspace, it was easy to define and visualize the workspace and obstacles in which the planner/robot was operating. This website (link) shows a great example of visualizing the workspace and configuration space for a 2DOF arm, but how can I do this for higher dimensions?