Predictive Composite Guiding Vector Field for 3D Manipulator Path Following with Full-Link Obstacle Avoidance

Safe manipulator path following requires convergence of the end effector to a desired path while maintaining clearance for all modeled links, particularly near moving obstacles and narrow passages. We propose a predictive composite guiding vector field for 3-D path following with full-link collision avoidance. An implicit-surface guiding field provides nominal motion, while capsule models and predicted capsule-aware obstacle levels account for link thickness and anticipate collisions. Moving-boundary compensation handles dynamic obstacles. A rank-discounted global index preserves dominant-threat information for event observation and rejoining, while simultaneous link corrections are reconciled by weighted damped least-squares. After threat release, event-driven safety rejoining (EDSR) modulates convergence and tangential gains under safety gating, and bounded joint commands are obtained by damped inverse kinematics. MATLAB experiments with static, moving, and narrow-frame obstacles show predictive activation and positive capsule-surface clearance; CoppeliaSim co-simulation and a UR7e experiment further illustrate the feasibility of obstacle avoidance and path recovery on simulated and physical platforms.