diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 48674a8a4e6d3372e045be0f4edb32af890b4ce7..04bad21b1e9131f27825834de120e8c4730d6466 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -41,6 +41,7 @@
         <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
         <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
         <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+        <disable_collisions link1="panda_link3" link2="panda_link5" reason="Default" />
         <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
         <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
         <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
@@ -50,5 +51,10 @@
         <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
         <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
         <disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent"/>
+        <!-- Fix self-collisions between coarse collision geometries provided by franka_description
+             (see https://github.com/ros-planning/panda_moveit_config/pull/35#pullrequestreview-390715967).
+             These collisions are handled by joint limits already and thus can be disabled here. -->
+        <disable_collisions link1="panda_link5" link2="panda_link8" reason="Default"/>
+        <disable_collisions link1="panda_link6" link2="panda_link8" reason="Default"/>
     </xacro:macro>
 </robot>