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A free-floating space manipulator has outstanding advantages and wide application prospects compared with other categories. This paper discusses the concepts and categories of space robots and introduces the current trajectory-planning algorithm for a space robot and its ground simulation system in the main countries of the world. This paper also constructs a system model for the space manipulator system and gives the kinematic equation of such a manipulator system. A dynamic equation of thedoi:10.5772/56401 fatcat:ymu5ouqpbzbirmn3j7ue22pk5y