The　smoke　generated　by　satellite　during　the　process　of　position　and　attitude　adjustment　is　easily　attached　to　the　solar　panel.　If　the　smoke　is　not　cleaned　regularly,　it　will　lead　to　a　decrease　in　the　power　supply　capacity.　Therefore,　using　the　space　manipulator　to　implement　the　task　of　cleaning　the　solar　panels　was　studied.　Firstly,　the　dynamic　mode　of　the　space　manipulator　system　is　established　by　Lagrange.　Then,　to　control　the　position　and　attitude　of　the　cleaning　device　at　the　end　of　the　manipulator,　the　dynamic　model　is　converted　to　the　inertial　space　form　based　on　the　kinematics　relationship.　After,　the　impedance　model　is　established　according　to　the　dynamic　relationship　between　the　position　and　output　force　of　the　cleaning　device　based　on　the　impedance　control　principle　to　ensure　stable　and　accurate　control　of　the　output　force.　In　order　to　prevent　the　sudden　change　of　the　output　force　from　damaging　the　solar　panel　due　to　the　sudden　change　of　the　system　state　during　the　switching　of　each　control　phase　of　the　cleaning　operation,　a　full　state　constraint　control　strategy　that　the　uncertain　system　is　fitted　by　RBF　neural　network　is　proposed　based　on　the　barrier　Lyapunov　function.　And　on　this　basis,　to　achieve　high-precision　position　and　attitude　control　of　the　satellite　and　the　cleaning　device,　the　virtual　control　force　principle　is　used　to　modify　the　expected　trajectory　of　the　design,　so　that　the　flexible　vibration　of　the　solar　panel　can　be　suppressed.　Finally,　the　stability　of　the　system　is　proved　by　the　Lyapunov　theorem,　and　the　effectiveness　of　the　proposed　control　strategy　is　verified　by　simulation　analysis.　The　results　show　that　the　output　force　control　accuracy　of　the　cleaning　device　is　better　than　0.5　N,　the　position　and　attitude　control　accuracy　of　the　satellite　and　the　cleaning　device　are　better　than　0.1o　and　10-3　m.　©　2023　Chinese　Journal　of　Theoretical　and　Applied　Mechanics　Press.　All　rights　reserved.