With the deepening of space exploration， human beings have gradually changed from understanding the space environment to developing and utilizing space resources. Space manipulator is widely used in space exploration activities because of its wide range of motion and strong operation ability. The complex space environment and heavy space control tasks put forward higher and higher requirements for the autonomy and intelligence of space manipulator. Based on the overview of the development status and key technologies of space manipulator， this paper summarizes the intelligent planning and control technology of space manipulator， focuses on the research results of domestic and foreign scholars in task planning， trajectory planning and motion control of space manipulator， and then looks forward to the development direction of follow-up space manipulator planning and control.