An Integrated Robot Simulation Workspace for Real Time Collision Free 3D Laser Scanning Applications

Abstract

This paper presents a methodology, related techniques and tools for robot modelling and simulating, with focus on real-time collision detection and avoidance. Applications of the methods presented include collision-free path planning for 3D scanning, and collision avoidance in real-time robot tasks for robust operation.
The techniques presented were integrated into a real-time robot simulation environment, with rigid body dynamics capabilities, used for development of complex robot applications.