Aiming at the collision problem in the operation of manipulator, an obstacle avoidance path planning method based on the speed correction term is proposed. In the joint space of the manipulator, the path is planned by B-spline curve, so that the manipulator can reach given configuration at the particular moment. The collision detection algorithm is used to calculate the minimum distance between the manipulator and the obstacle during the whole operation process, and the speed correction term for obstacle avoidance is introduced to adjust the motion trajectory of the manipulator once the collision happens. Since the integration of the speed correction term is zero during the process of obstacle avoidance, the manipulator can reach given configuration at the particular moment after avoiding obstacle. Finally, the correctness and the effectiveness of the proposed method are verified by the simulation experiment.