Abstract: While Space Robot（SR） manipulator movement along predetermined trajectory to complete space operations，satellite body attitude will be disturbed，which affects thee normal communication and orientation of solar panels and increases the attitude control fuel consumption.First，by analysis of Nonholonomic Redundancy（NR） about SR and different tasks being solved with SR inverse kinematics and dynamics，flexible criterion of Fixed-Attitude-Controlled Jacobian Matrix（FACJM） without attitude disturbance is put forward.Second，based on task hierarchy and NR control equation for SR，motion control algorithm with minimum attitude disturbance be developed.Finally，the effectiveness of the algorithm is verified by computer simulation.Research results show that the algorithm can minimize the satellite body attitude disturbance caused by manipulator movement to save valuable fuel for SR attitude control.

摘要： 空间机器人（Space Robots，SR）机械手沿预定轨迹运动完成空间作业时会对卫星本体姿态产生干扰，影响正常通信和太阳能帆板定向，增加姿态控制燃料消耗。首先通过对SR非完整冗余（Nonholonomic Redundancy，NR）分析，求解不同作业任务SR逆运动学问题，提出对卫星本体不产生姿态干扰的固定姿态控制雅可比矩阵的灵活度准则；其次基于任务分层和NR控制方程，开发了最小姿态干扰运动控制算法；最后计算机仿真验证了算法的有效性。研究结果表明该算法可最小化机械手运动对卫星本体姿态干扰，可节省宝贵姿态控制燃料。