Null　reaction　motion　planning　and　control　of　a　planar　three-link　space　manipulator　approaching　the　target　is　studied.　Firstly,　the　dynamic　model　of　the　system　is　established,　and　the　mathematical　model　of　reactionless　motion　planning　of　is　derived.　Based　on　the　theory　of　Null　Reaction　Space,　the　vector　norm　constraint　algorithm　of　the　system　is　studied.　An　adaptive　fuzzy　sliding　mode　control　algorithm　based　on　time　delay　estimation　is　proposed.　This　method　estimates　most　of　the　unknown　items　of　the　system　by　delay　estimation　technology,　in　which　accurate　and　complete　system　dynamics　model　is　not　needed,　and　constructs　the　desired　dynamic　control　term　based　on　a　nonlinear　sliding　mode　surface　to　shorten　the　response　time.　The　error　caused　by　delay　estimation　is　compensated　by　adaptive　fuzzy　module　and　the　control　accuracy　is　improved.　Finally,　the　matlab　simulation　of　the　a　planar　three-bar　space　manipulator　is　carried　out　to　verify　the　effectiveness　of　the　method.　©　2021　International　Astronautical　Federation,　IAF.　All　rights　reserved.