In　this　paper,　the　control　problem　of　space　robot　system　with　uncertain　parameters　and　external　disturbances　is　discussed.　With　the　momentum　conservation　of　the　system,　the　kinematics　and　dynamics　of　the　system　are　analyzed,　and　it　is　found　that　the　generalized　Jacobi　matrix　and　the　dynamic　equations　of　the　system　are　nonlinearly　dependent　on　inertial　parameters.　In　order　to　overcome　the　problems　mentioned　above,　the　idea　of　augmentation　approach　is　introduced.　It　is　shown　that　the　augmented　generalized　Jacobi　matrix　and　the　dynamic　equations　of　the　system　can　be　linearly　dependent　on　a　group　of　inertial　parameters　with　augmented　inputs　and　outputs.　Based　on　the　results,　a　robust　adaptive　composite　control　scheme　for　space-based　robot　to　track　the　desired　trajectories　in　inertial　space　is　developed.　The　stability　of　the　overall　system　is　analyzed　through　Lyapunov　direct　method.　For　the　proposed　approach,　the　global　uniform　asymptotic　stability　of　the　system　is　established.　In　addition,　the　controller　presented　possesses　the　advantage　that　it　needs　no　measurement　of　the　position,　linear　velocity　and　acceleration　of　the　base　with　respect　to　the　orbit,　because　of　the　effective　exploitation　of　the　particular　property　of　system　dynamics.　To　show　the　feasibility　of　control　scheme,　a　planar　space　robot　system　is　simulated.