The invention discloses an industrial robot high-speed high-precision obstacle avoidance track planning method based on torque control. The method comprises the following steps that 1, a robot dynamics model is established by identifying kinematics and inertial parameters of all joints; 2, displacements of all joint angles are obtained through inverse kinematics solution when a robot moves to an end point; 3, the displacements of the joint angles are adopted as motion tracks, speeds and accelerated speeds of all joints are planned through a sine jerk planning method, the speeds and the accelerated speeds are substituted into the dynamics model so as to solve control torque in the motion tracks; 4, collision detection is carried out by adopting a method of judging the distance between key points after detecting the interference conditions of joint projections; and 5, when it is detected that the collision may occur, an impedance accelerated speed is applied to the dangerous joints to reduce the motion speed of the joints so as to achieve the obstacle avoidance. The industrial robot obstacle avoidance track planning method based on the torque control has the advantages that the control precision is high, the obstacle avoidance is effectively realized, and the safety is high.