Abstract: In this paper, the coordinated control of the base attitude of space manipulator system with prismatic joint and its arms is studied. With the momentum conservation of system, the kinematics and dynamics of system are analyzed. It is shown that the generalized Jacobi matrix and dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results proposed above, the composite adaptive and robust control scheme of coordinated motion for both the base and manipulator to track the desired trajectory is developed. The control scheme proposed above possesses the advantages that need no measuring or controlling the position, velocity and acceleration of the base with respect to the orbit due to an effective use of the particular property of the system dynamics. Besides it is computationally simple because an approach is chosen to make the controller robust to the uncertain inertial parameters rather than explicitly estimating them online. A two-link planar space manipulator system is simulated to verify the proposed controlling scheme.