I have set up a listener observer for collision detection using kiiwa's approach from this thread and it works great. When a collision is detected, the robot stops, and when the way is clear it continues it's movement.
It would be even better though, if the robot would reverse the last few centimeters after the collision, so that the worker can not get trapped between the robot and an obstacle. As the robot is moving in different directions, I can't do that using move(linRel) on collision.
Did anyone try this before?
Thanks for your help!