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To address these challenges, a real\u2010time motion generation method for robot manipulators in complex dynamic environments is proposed. The method autonomously generates safe trajectories and significantly enhances path smoothness and reaction time. An online minimum distance calculation algorithm between human and robot manipulators is developed via an inertial measurement unit\u2010based motion capture system. The algorithm employs a unified geometric representation of the \u201chuman\u2013robot\u2013environment\u201d model using superquadric surfaces. It introduces a closed\u2010form Minkowski sum\u2010based minimum distance method for efficient calculations. Additionally, a collision\u2010free motion generator is proposed that integrates global planning with local control, where the controller simultaneously considers all minimum distances, enhancing motion continuity and human\u2013robot safety. 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