The invention provides a tracking and real-time obstacle avoidance reaction planning algorithm applied to an industrial robot. The tracking and real-time obstacle avoidance reaction planning algorithmcomprises the steps: 1, the to-be-tracked curve pose, and the real-time distance between a tail end rigid body and an obstacle are input; 2, mapping from a robot joint space to a working space is given through forward kinematics; 3, the obstacle is detected through a visual sensor, and the distance to the obstacle is calculated; 4, the path is planned, and the rigid body of the working space is subjected to tracking and obstacle avoidance; 5, a joint angle is calculated according to a Jacobian pseudo-inverse method in the joint space; 6, the angular constraint problem is handled through a quick search spanning tree; 7, constraint is detected, if the constraint is not met, the step 6 is repeated, and if the constraint is met, the step 8 is executed; 8, a target is reached, the joint angleis obtained, the joint space control moment is calculated accordingly, if the target is reached, the algorithm process is completed, otherwise the step 9 is executed; and 9, an initial point is updated, and executing is conducted again from the step 3.