A　planning　method　based　on　SA*　algorithm　is　presented　in　this　paper.　Forward/Inverse　kinematics　model　of　a　manipulator　is　established　to　satisfy　the　constraints　of　security,　and　manipulator-rover　body　collision　and　manipulator-lunar　environment　collision　are　avoided　by　use　of　collision　detection.　The　SA*　algorithm　is　used　to　search　for　the　working　space　of　the　manipulator　and　to　achieve　in-situ　exploration　planning　for　Rover　Lunar　under　the　condition　of　the　least　switching　times　for　manipulator　posture.　The　feasibility　of　the　in-situ　exploration　planning　method　based　on　SA*　algorithm　for　manipulator　is　verified　by　using　the　on-orbit　data.　©,　2015,　China　Spaceflight　Society.　All　right　reserved.