为工业机器人开发了一个实时安全和防撞系统。测试机器人能够避免与入侵者发生碰撞，入侵者从任何方向靠近它，并且距离机器人手臂的距离也不远。该系统被证明是实时运行的，机器人最终能够完成所有设定的任务。入侵者识别和避免碰撞纠正措施之间的时间比任何其他同类系统都要快。整个系统设计简单，模块化，因此该系统适用于许多不同类型的机器人。

A REAL-TIME SAFETY AND COLLISION AVOIDANCE SYSTEM WAS DEVELOPED FOR INDUSTRIAL ROBOTS. THE TEST ROBOT WAS ABLE TO AVOID COLLISIONS WITH INTRUDERS THAT APPROACHED IT FROM ANY DIRECTION AND IN ANY PROXIMITY RELATIVE TO THE ROBOT'S ARM. THE SYSTEM WAS SHOWN TO OPERATE IN REAL-TIME WITH THE ROBOT ABLE TO EVENTUALLLY COMPLETE ALL TAUGHT TASKS. THE TIME BETWEEN INTRUDER RECOGNITION AND COLLISION AVOIDING CORRECTIVE ACTION WAS FASTER THAN ANY OTHER SYSTEM OF ITS KIND. THE OVERALL SYSTEM WAS DESIGNED FOR SIMPLICITY AND MODULARITY, THEREBY MAKING THE SYSTEM APPLICABLE TO MANY DIFFERENT TYPES OF ROBOTS.