It　is　a　difficult　thing　for　robot　working　in　a　tight　and　narrow　space　with　obstacles　because　of　collision　occurrence.　For　solving　this　problem,　the　paper　proposes　a　joint　trajectory　generation　method　for　obstacle　avoidance.　Besides　of　the　end-effector,　our　work　plans　a　collision　free　trajectory　for　each　joint　in　the　narrow　space.　Considering　the　complexity　of　obstacle　distribution,　the　presented　method　combines　Dynamic　Movement　Primitive　(DMP)　with　a　RRT-Connect　algorithm　that　firstly,　in　the　joint　space　DMPs　generate　trajectories　for　each　manipulator　joint,　and　then,　in　the　cartesian　space,　the　collision　detection　model　checks　the　DMP　generated　trajectories.　If　any　of　the　links　collides　with　the　obstacle,　a　collision　free　path　will　be　planned　on　the　trajectory　points　that　encounter　obstacles　by　employing　RRT-Connect　algorithm.　Based　on　ROS　platform,　the　experiments　build　a　tight　and　narrow　simulated　environment,　and　test　the　method　on　a　UR3　robot　manipulator,　which　show　the　effectiveness　of　the　presented　method.　©　2023,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.