A method is proposed for planning motion path of manipulators avoiding collisions with obstacles. Though configuration space (or c-space) of manipulator is widely used for planning collision-free path of manipulators, it does not respond adequately to the geometric configuration of the collision, which brings non-uniform precision of the path and increase of its calculation time. To resolve this problem, firstly, an approach is adopted to separate global path planning which generates candidate paths in the c-space of manipulator, and local path planning which generates local paths avoiding the collision. Secondly, a method for planning the local path is proposed ; It generates a path keeping contact with obstacle surface by utilizing local configuration space, called cc-space, which represents the geometric configuration composed from the link of manipulator and the face of obstacle in contact. Based on this strategy, a computer program is developed and a path is generated successfully for PUMA type manipulator using the program.