# Real-Time Dynamic Obstacle Avoidance for Robot Manipulators Based on Cascaded Nonlinear MPC With Artificial Potential Field

> Research article (IEEE Transactions on Industrial Electronics, 2023) · cited 55× · AI/ML

**Wikidata**: [openalex:W4386261631](https://www.wikidata.org/wiki/openalex:W4386261631)  
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