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For the 6R Manipulator,the coordinates of its joins and end-effector are given in this paper. Each point on its links,which may collide with the space capsule,is expressed as a function of the coordinates at the link’s two extreme points,and a detection method of the collision of the point with space capsule is put forward. Not only can this method detect the collision between joints and space capsule,but it can detect the collision between any point on a link and space capsule. The point from each of a pair of links which may cause mutual collision is expressed as a function of the coordinates at the link’s two extreme points,and a detection method of the collision of the pair of links is put forward. Not only can this method detect the collision between two joints from two different links,but it can detect the collision between any two points on two different links. Simulation results validate the feasibility and validity of above two collision detection methods.