The work aims to propose an autonomous obstacle avoidance control method for automatic packaging robot manipulator in order to solve the problem of low obstacle avoidance effect caused by the influence of obstacles. The motion model of automatic packaging robot was established, and its linear velocity and angular velocity were calculated. Then, the kinematic analysis of the robot was completed. The resultant force of the robot was calculated by the gravitational potential field between two adjacent automatic packaging robots. The state equation of autonomous obstacle avoidance of the robot manipulator was set up to design the autonomous obstacle avoidance algorithm. Combined with the autonomous obstacle avoidance process, the automatic packaging robot manipulator realized the autonomous obstacle avoidance. A comparative experiment was designed in U-shaped obstacle section or H-type obstacle road section. According to the experimental results, the working efficiency of the automatic robot was more than 75% no matter in which type of road section, and the good obstacle avoidance effect was better. The obstacle avoidance method suitable for automatic packaging robot manipulator provides reference for the research of automatic packaging robot.