The invention relates to the technical field of robots and provides a configuration-plane-based motion control method for a redundant robot manipulator. The configuration-plane-based motion control method for the redundant robot manipulator can guarantee that motion control of the redundant robot manipulator in a complicated working space under such multi-objective conditions as space obstacle avoidance can be realized, and comprises the following steps: performing configuration plane partitioning on the redundant robot manipulator by use of dynamics; carrying out preliminary planning on the redundant robot manipulator according to the configuration plane matching mode; conducting space obstacle interference detection on all configuration planes of the redundant robot manipulator and re-adjusting and re-planning the configuration planes subjected to interference; smoothing joint speed and accelerated speed splines on the adjusted plan of the redundant robot manipulator; and performing dynamics check on the whole motion process. Through combination of the structural characteristics and the working mode of the redundant robot manipulator, the configuration planes are introduced into motion control of the redundant robot manipulator, so that the configuration-plane-based motion control method can visually and quickly realize motion control planning of the redundant robot manipulator.