Abstract: The parameter identification methods for inertial parameters of the base and unknown objects handled by manipulators on a free-floating space robot was studied.First,kinematics model of robots based on spatial operator algebra theory was obtained.Next,parameter identification of the base was studied based on the conservation principle of linear and angular momentum,then parameter identification of the unknown object handled by manipulators was considered based on the parameters of the base.Finally,the effect of the robot parameters on parameter identification was analyzed.The feasibility of the parameter identification methods was demonstrated by a hardware experiment on the ground as well as the numerical simulations.