3D collision detection: a survey

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A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction (2004, background): “For the case of arbitrary geometries, the only extra computational effort will be focused on finding the location of the contact points and the penetration depths, the determination of which has been intensely investigated in the past decade, and for which very efficient algorithms are available [12”
Safety in human-robot collaborative manufacturing environments: Metrics and control (2016, background): “An important feature of the proposed contribution is the use of collision avoidance strategies directly in the actuation (joint) space, thus avoiding the limitations, due to time-consuming computations, of other approaches defined in the 3D Cartesian space [25].”
Virtual reality for assembly methods prototyping: a review (2011, methodology): “Physics-based solvers generally sacrifice computation accuracy to keep the update rate of the visual simulation realistic (Jiménez et al. 2001).”