In　this　paper,　a　whole-arm　path　planning　algorithm　for　6-DOF　industrial　robot　based　on　artificial　potential　field　method　is　proposed.　Multi-station　conversion　system　used　for　welding　robots.　First,　the　environment　is　monitored　by　sensors　and　simplify　obstacles　and　robotic　arms.　Then　transform　the　Cartesian　space　obstacle　into　the　C　space　of　the　manipulator　through　the　geometric　relationship,　thus　forming　the　free　motion　space　of　the　robot　arm,　which　provides　conditions　for　the　collision-free　path　planning　of　the　manipulator.　Finally,　according　to　the　obstacle　repulsive　vector　summation　and　target　point　attraction　vector,　realize　the　intuitive　rejection　reaction,　actively　avoid　the　collision　of　the　robot　arm,　and　finally　reach　the　target.　We　have　successfully　demonstrated　our　system　on　the　MA1440　industrial　robot.　©　2019　IEEE.