Aimed at the kinematic collision problem in industrial robot operation, a collisionfree path generation method for robots based on nonuniform loss field was proposed. The method was divided into three stages, namely data preparation, rough planning and fine planning.In the data preparation stage, the workstation model was determined by means of the calibration,and the spatial loss field was constructed by fitting the minimum bounding box; the original problem was transformed into a twodimensional programming problem by using the dimensional reduction technology.In the rough planning stage, the rough planning route was determined by using the permutation and combination method.In the fine programming stage, the result of the rough planning was taken as the initial value,the polynomial interpolation method was applied to reduce the search range, and the gradient descent method was applied to solve the optimal collisionfree path.By using the method, good results have been obtained in the experiment, which proves its effectiveness and rationality.