A generic control method of manipulator based on optimization

In this paper, a generic control method for manipulators is proposed, which could take obstacle avoidance and joint limits as the constraints of the quadratic programming problem to complete the Cartesian space and joint space tasks simultaneously. The method can be applied to redundant or non redundant manipulators. The Cartesian trajectory planning is completed by applying a cubic interpolation method to ensure the smooth and continuity of manipulation. The obstacle avoidance is realized using the potential field method named velocity damper. The simulation of the control method is completed in gazebo. And the experiment is realized in the universal robot platform, which the effectiveness of the method is verified.