As　redundant　manipulator,　3-link　planar　manipulator　can　achieve　optimization　objective　by　the　extra　degree.　An　efficient　approach　of　inverse　kinematics　for　obstacle　avoidance　via　discrete　workspace　is　proposed.　This　paper　concentrates　on　optimizing　one　of　three　joints　to　track　the　path　of　EEF　(end　effector).　First　of　all,　ensure　feasible　region　of　workspace　through　taking　advantage　of　geometrical　features　and　divide　the　workspace　by　discrete　cell　as　search　space.　Secondly,　in　order　to　compromise　computation　complexity　and　efficiency　of　avoiding　obstacles,　artificial　forbidden　zone　around　obstacles　in　space　and　motion　zone　that　cover　virtual　obstacles　on　the　ground　are　proposed.　Furthermore,　two-phase　computation　is　used　to　resolve　joint　angles　by　analytical　solution　for　achieving　high-precision.　At　last,　a　simulation　of　inverse　kinematics　based　on　discrete　workspace　for　3-link　planar　manipulator　to　track　a　path　is　presented,　the　results　demonstrate　the　efficiency　of　obstacle　avoidance　and　high-precision　inverse　kinematics　algorithm　with　low　computation　burden.　©2010　IEEE.