The invention provides a space robot collision avoidance method based on multiple control points. During path planning, the angular velocity of a joint of a mechanical arm is smooth, discontinuity of the angular velocity of the joint of the mechanical arm is avoided, and the vibration problem caused by jumping of a single control point can be restrained. The space robot collision avoidance method based on the multiple control points comprises the steps that (1) an obstacle is processed into a non-convex polyhedron composed of triangular faces, the mechanical arm is processed into line segments, the collision detection algorithm between the describing line segments and the describing triangles is determined, and a pair of control points, with the shortest distance, between the mechanical arm and the obstacle are obtained; (2) a multi-mask kinematical equation considering the collision avoidance tasks of the space robot is established; (3) the collision avoidance constraint conditions of the space robot are established, and collision avoidance solving is conducted through the combination with the kinematical equation in the step (2); (4) according to the parameter design of the multiple control points, the parameters of a new control point are adjusted, and collision avoidance solving is conducted through the combination with the kinematical equation in the (2); and (5) according to the collision avoidance solution, to one obstacle, of the multiple control points, multiple-obstacle collision avoidance control is conducted on the mechanical arm of the space robot.