The　trajectory　tracking　control　for　the　coordinated　motion　of　a　free-floating　space　flexible　manipulator　with　unknown　parameters　is　developed.　With　the　momentum　conservation　law,　the　Lagrange　equation　of　the　second　kind　is　utilized　to　model　the　dynamic　function　of　the　space　flexible　manipulator　incorporating　the　assumed　mode　method.　In　case　of　system　parameters　are　unknown,　a　wavelet　based　fuzzy　neural　network　control　scheme　is　designed.　The　control　scheme　can　control　the　base　attitude　and　joint　angle　of　manipulator　to　track　desired　trajectories　in　joint　space　simultaneously.　It　requires　no　prior　knowledge　about　a　dynamic　model　and　system　parameters,　and　saves　the　off-line　training　time　because　the　network　weights　are　adjusted　through　online　learning.　Simulation　result　demonstrates　the　validity　and　feasibility　of　the　proposed　control　scheme.