This paper proposes a set of techniques for predictive collision avoidance, which ensure robust operation of robot applications. Implementation issues for applying the techniques to state-of-art robots are presented, including integration with manual and automatic operation modes.
This paper presents a portable simulation environment for robotics, implemented with open source components and aimed at research, offline programming and educational usage. The simulation employs rigid body dynamics, collision detection, customizable robot environments and real-time 3D graphics. A case study presents an application for collision detection… (More)