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The space special manipulator has the ability of precise operation and visual recognition, and is widely used in the field of manned spaceflight. In order to accurately complete space tasks in complex environments, the space special manipulator based on CAN bus control system is designed. The structural elements of the special space manipulator are assembled from the aspects of joints, connecting rods, drive motors and locking brakes. The controller of aerospace special manipulator is installed, a serial communication interface is added in the controller, the controller is connected to the CAN bus, the communication protocol of the CAN bus control system is configured, and the hardware structure design of aerospace special manipulator is completed. The real-time position and attitude of the space special manipulator are detected by the sensor equipment in the space special manipulator, and the gravity load of the space special manipulator is compensated. According to the work task of the manipulator, the movement trajectory is planned. With the support of the controller, the control function of the space special manipulator is realized through the calculation and communication of the control quantity. The performance test results show that the control errors of the average position and joint attitude angle of the space special manipulator designed based on the CAN bus control system are 3.0m and 0.32 ° respectively, and the average shape variable is 2.64m2, which has good control performance and compression resistance.