A　hybrid　control　scheme　was　proposed　to　eliminate　the　flexible　vibration　of　a　free-floating　space　flexible　manipulator　while　the　robustness　of　variable　structure　control　(VSC)　developed　for　coordinated　motion　was　maintained.　The　VSC　law　alone　designed　to　track　the　desired　trajectory　of　base＇s　attitude　and　joint　angles　could　not　guarantee　the　stability　of　the　flexible　modal　dynamics　of　the　flexible　link.　In　order　to　actively　suppress　the　flexible　vibration,　hybrid　trajectories　for　the　VSC　were　generated　using　the　virtual　control　force　concept,　so　that　the　hybrid　control　scheme　of　a　space　flexible　manipulator　could　be　designed.　Simulation　results　confirmed　that　the　proposed　hybrid　control　scheme　can　dominate　the　trajectory　tracking　of　the　coordinated　motion　and　actively　suppress　the　vibration　in　the　presence　of　parameter　uncertainty.