In this paper the Artificial Vector Potential is used for constructing a navigation control that can drive an arm manipulator to a target set while avoiding undesired regions in the workspace. It is shown that a Vector Potential Field can better navigate a robot than a Scalar Potential Field. The strategy that is suggested for constructing the navigation control is very flexible in the sense that it allows the addition or deletion of obstacles with minimal adjustment to the control. An efficient technique to generate the navigation field in the N-D space is proposed. Simulation results are also provided.