Abstract: Based on the common D-H modeling methods for ground robot and the conservation of momentum and conservation of angular momentum suitable for SR(space robot),continuous motion trajectory control modeling algorithm for SR is developed.First,kinematics model for SR is developed based on the idea of the ground-based Jacobian and D-H method.Second,an effective algorithm for controlling continuous motion trajectory and calculating generalized Jacobian matrix is developed for SR.Finally,validity of the algorithms proposed is verified through the computer simulation.The SR conceptual model and kinematics model based on the D-H method in this paper can be extended to any SR with tree structure link containing rotary joints and translational joints.