Abstract: Considering the importance of precise and dexterous control technology of space manipulator when performing complex and dangerous space tasks such as on-orbit maintenance, on-orbit assembly and on-orbit refueling, this paper analyzes the development trends of space manipulator from different types of space manipulator configurations and end effectors. 5 key technologies involved in the control process of space manipulators are summarized, including rendezvous, docking and capture, autonomous planning and intelligent control, sensing and perception, intelligent cooperation and control, and system security. Finally, the future development directions and prospect are put forward according to the problems existing in the control process of space manipulator.