This　paper　focuses　on　the　shortage　of　past　researches　which　do　not　satisfy　the　conditions　that　CE-3　lunar　rover　is　required　to　satisfy　the　constraints　of　imaging,　light　detection,　obstacle　avoidance,　and　number　of　manipulator　switching.　A　new　approach　based　on　SA*　algorithm　is　presented　for　task　planning　of　lunar　rover＇s　manipulator.　The　algorithm　searches　the　manipulator　work　space　and　calculates　the　sun　light　based　on　the　ephemeris　to　satisfy　the　lighting　constraint,　and　manipulator　and　environment　collision　are　avoided　by　an　effective　method　of　collision　detection　based　on　hierarchical　bounding　box.　Moreover,　motion　sequence　generated　by　this　algorithm　according　to　cost　cuts　satisfies　the　constraints:　Minimum　number　of　transformation　of　manipulator.　The　feasibility　of　SA*　algorithm　for　manipulator　are　verified　by　the　result　of　on-orbit　mission.　©　2016,　Editorial　Board　of　JBUAA.　All　right　reserved.