经过几十年的不懈努力，中国航空航天技术日益突进，逐渐走向世界前列。但由于空间环境情况的复杂多变以及柔性臂本身固有的物理属性，常会导致末端执行器发生振动或未按规定路径运动等一系列问题。在简述国内外空间柔性机械臂发展现状的基础上，分析了空间柔性机械臂建模、控制方法以及轨迹规划3个方面的研究现状，并详细调研了相关内容在不同工况下适用的设计方法及其优缺点，以及部分专家学者对该方法的具体应用情况。最后结合上述分析内容，提出了柔性空间机械臂的发展趋势与展望。

Due to decades of unremitting efforts, China's aviation and space technology has gradually become advanced in the world. However, the complex and changeable space environment and the inherent physical properties of the flexible arm itself often cause a series of problems to the end-effector, like vibrating or failing to follow the prescribed path. Based on a brief description of the development status quo of space flexible robotic arm technology at home and abroad, the research status of space flexible robotic arm were analyzed in three aspects: modeling, control methods and trajectory planning, and the design methods applicable to relevant contents under different working conditions, their advantages and disadvantages were investigated in detail, as well as the specific application of this method by some experts and scholars. Finally, according the above analysis, the development trend and prospect of flexible space manipulator were proposed.