Motoman SV3X manipulator was used to pick fruit and chosen as research object. Under the instance of known space coordinates of fruit and space position and pose of erect obstacle, a kind of multi-joint angle computation and path planning method for Motoman SV3X was proposed. Firstly, several sets of joint angles were computed according to relative space position between fruit and erect obstacle. And then, one set of joint angle was chosen as terminal angle of path planning. Finally, algorithm was used to plan a obstacle-avoiding path from start angle to terminal angle. The method solved the computation problem of multi-joint angle, and has universality for the problem of avoiding erect obstacle for fruit-picking manipulator. Simulation tests under the environment of Matlab showed that solved joint angles of manipulator can both make Motoman SV3X avoid erect obstacle and end-effector reach preconcerted position with given position error, and validated the correctness of the path planning method.