I am trying to control a 7 DOF robot (a Franka Panda). I use jacobian based control (resolved rate motion control) to generate a joint trajectory from a cartesian trajectory.
My contraints for the motion are, that I need to follow a trajectory, and I need to avoid obstacles, self collision and joint limits. I know how to satisfy each constraint independently by projecting joint velocities that avoid onto the null space.
How can I do all at the same time - is that even possible? Should I switch between constraints based on some kind of urgency?