Abstract: Based on a bi-directional approach, the paper discussesthe motion planning of free-flying space manipulators with prismatic joint.Considering its nonholonomic nature, the vehicle orientation can be controlledin addition to the joint variables of the manipulators, by actuating onlythe joint variables. As the result, the fuel consumption for controlling thevehicle orientation is reduced and the life-span of spacemanipulator system is prolonged. A planar space manipulator with prismaticjoint is simulated to verify the proposed approach.