Aiming at the trajectory planning problem of space dual-arm robot, this paper proposes a floating base perturbation minimization trajectory planning method based on sparrow search algorithm. Firstly, the joint angles of the dual-arm robot are taken as optimization variables, and the kinematics model of the robot is constructed by using the parametric method of joint trajectory. Secondly, the positioning accuracy of the end effector is taken as the optimization goal and the disturbance of the floating base is taken as the optimization constraint. Meanwhile, to ensure the safety of the planning process, penalty factors and collision detection mechanisms are introduced, and the trajectory planning problem is transformed into a constrained multi-objective optimization problem. Finally, the sparrow search algorithm is used to solve the problem, and the optimal joint trajectory of the dual-arm robot is obtained. The simulation results show that the proposed method can effectively reduce the base disturbance while ensuring the positioning accuracy of the end effector, and its performance under the base unconstrained condition is better than the traditional particle swarm optimization and simulated annealing algorithms.