To　make　a　redundant　robot　implement　the　end-effector　task　in　an　obstacle　environment,　this　paper　first　proposes　a　new　collision　avoidance　strategy　based　on　the　optimal　decision　of　configurations,　which　optimizes　the　comprehensive　performance　of　the　manipulator　while　avoiding　obstacles.　Then,　the　feasibility　of　the　proposed　approach　is　verified　with　the　simulation　and　experiment　of　a　3R-2P　redundant　robot.