computing a design robot motion based on a target location of a robot tool center point,

computing a commanded robot motion for a current control cycle of calculated motion for the robot based on the design robot motion and obstacle data received from sensors, where the commanded robot motion is provided as feedback for computing the design robot motion for a next control cycle, and where computing a commanded robot motion includes an optimization computation having a multi-term objective function, one or more robot structural limitation constraints and a collision avoidance constraint, where the multi-term objective function includes a path deviation minimization term, a joint velocity regularization term and a robot pose regularization term, and the objective function seeks a minimum of a sum of the terms; and

providing the commanded robot motion to a controller module which sends signals executing control of joint motions of the robot.