Abstract: Aiming at the dynamic singularity of generalized Jacobian matrix caused by non-holonomic constraints in free-floating space robots,an approach of indirectly solving robot inverse kinematics is presented.With the decomposed kinematics equation and the constructed iterative function,the approach transforms the dynamic singularity into kinematic singularity,avoids directly solving inverse generalized Jacobian matrix,and resolves the dynamic parameter relativity problem caused by generalized Jacobian matrix singularity.Numerical simulations demonstrate that the approach achieves the non-holonomic trajectory planning of free floating space robot with avoidance of dynamic singularity effectively.