  Collision detection and collision avoidance are essential components in these
systems for safe human-robot interactions. Robotics systems that can work
"out-of-the-box" without excessive amount of installation and calibration from
the experts is highly ideal. For this, we propose a generic, high precision,
collision detect system that only requires the unified robot description format
(URDF) and is capable of running in real time. We extended the
Gilbert-Johnson-Keerthi (GJK) algorithm by utilizing a geometrical approach to
determine the distance between each rigid body in the environment and check for
collisions. The proposed system's performance is shown by checking the
self-collision of the KUKA LBR iiwa 7 R800 and the Mecademic Meca500. The
performance is compared to the Flexible Collision Library (FCL).
