This article presents an approach to intuitive collision avoidance of handoperated robots. Hand-operations are realized by means of zero-force impedance control using force/torque sensor. Impedance control is then combined with the method of artificial potential fields exerting force on the end-effector. This force can be felt by human, who acts on the manipulator and cooperates with the robot. The way to generate potential fields in this work is based on virtual electrical charges placed on the obstacle surfaces. In comparison with other approaches this method is quite universal and can be flexibly used for all forms of obstacles. It may be favourable to implement an additional artificial damping field to prevent hurting obstacles in the case of higher end-effector velocities. It is also possible to use this approach with moving obstacles. In this situation the charges would be placed dependent on sensor information provided e.g. by camera.