  This work uses vector field inequalities (VFI) to prevent robot
self-collisions and collisions with the workspace. Differently from previous
approaches, the method is suitable for both velocity and torque-actuated
robots. We propose a new distance function and its corresponding Jacobian in
order to generate a VFI to limit the angle between two Pl\"ucker lines. This
new VFI is used to prevent both undesired end-effector orientations and
violation of joints limits. The proposed method is evaluated in a realistic
simulation and on a real humanoid robot, showing that all constraints are
respected while the robot performs a manipulation task.
