Space　manipulator　system　will　play　more　and　more　important　function　in　future　space　activities,　and　its　research　get　the　attention　of　all　parties.　However,　with　the　development　of　space　technology　and　continuous　improvement　of　modern　robot　manufacture　technology,　late-model　space　robot　will　progress　in　the　direction　of　lightsome,　high　speed　and　high　precision,　and　concerned　dynamics　and　control　problems　on　flexible　space　robot　will　become　the　hot　topics　for　people　to　discuss.　The　trajectory　tracking　control　for　coordinated　motion　of　free-floating　space　flexible　manipulator　with　unknown　parameters　is　developed.　With　the　law　of　conservation　of　momentum,　the　Lagrange　equation　of　the　second　kind　is　utilized　to　model　the　dynamic　function　of　the　space　flexible　manipulator　incorporating　the　assumed　modes　method.　Base　on　above,　in　case　of　system　parameters　are　unknown,　a　fuzzy　wavelet　CMAC　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　at　the　same　time.　The　control　scheme　not　only　requires　no　a　priori　knowledge　about　the　dynamic　model　and　system　parameters,　but　also　saves　the　on-line　training　time　because　of　the　network　weights　are　adjusted　through　online　learning.　Simulation　result　demonstrates　the　valid　and　feasible　of　the　proposed　control　scheme.　©2013　by　the　International　Astronautical　Federation.　All　rights　reserved.