The　intelligent　control　problem　of　a　free-floating　space　manipulator　system　with　bounded　torque　inputs　and　uncertain　parameters　is　discussed.　The　kinematics　and　dynamics　of　the　system　are　analyzed　by　use　of　momentum　conservation.　With　the　idea　of　an　augmentation　approach,　the　dynamic　equations　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Base　on　the　results,　a　robust　and　adaptive　composite　control　scheme　for　a　free-floating　space　robot　system　with　bounded　torque　inputs　and　uncertain　parameters　is　developed.　The　proposed　control　scheme　can　effectively　limit　the　input　torques　using　the　continuous　differentiable　increasing　functions,　and　overcome　the　uncertain　influence　on　control　accuracy　using　robust　and　adaptive　adjustment.　Moreover,　the　control　scheme　can　guarantee　the　stability　of　the　system,　regardless　of　whether　the　parameter-region　is　precise　or　not.　That　reflects　the　stronger　robustness.　The　simulation　results　show　the　efficiency　of　the　control　scheme.