# An advanced dual APF-based controller for efficient simultaneous collision and singularity avoidance for human-robot collaborative assembly processes

> Research article (CIRP Annals, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4377695210](https://www.wikidata.org/wiki/openalex:W4377695210)  
**Source**: https://4ort.xyz/entity/an-advanced-dual-apf-based-controller-for-efficient-simultaneous-collision-and-singularity-avoidance-for-human-robot-col