本文在考虑臂杆柔性的情况下，利用拉格朗日公式推导出空间机器人操作臂的动力学方程。基于所得到的非线性模型，在最优控制理论的基础上，用Ｔｒｅａｎｏｒ法结合打靶法研究了其动力学逆问题的解法及振动的有效控制问题，并以平面二臂杆空间机器人操作臂为例进行了逆动力学仿真的研究，仿真结果很好。 In this paper, considering the flexibility of the boom, the dynamic equations of the manipulator of space robot are deduced by the Lagrange formula. Based on the obtained nonlinear model, based on the optimal control theory, the solution of kinematic inverse problem and the effective control of vibration are studied by Treanor method combined with shooting method. The manipulator of planar two-arm-space robot is Case study of the inverse dynamics simulation, the simulation results are good.