The　robust　control　of　coordinated　motion　and　active　vibration　control　for　free-floating　space　flexible　manipulator　with　an　attitude-controlled　base　are　studied.　The　dynamic　equations　of　the　system　are　developed　by　using　the　Lagrangian　assumed　modes　methods,　it　is　verified　that　the　dynamic　equation　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results　and　under　the　assumption　of　two-time　scale,　singular　perturbation　model　of　the　space　flexible　manipulator　system　is　obtained.　The　fast　subsystem　controller　will　damp　out　the　vibration　of　the　flexible　link　using　optimal　Linear　Quadratic　Regulator　(LQR)　method.　The　slow　subsystem　robust　controller　dominates　the　trajectory　tracking　of　coordinated　motion.　In　particular,　the　control　scheme　doesn＇t　require　measuring　the　position,　velocity　nor　acceleration　of　the　base.　The　numerical　simulation　is　carried　out,　which　confirms　the　controller　proposed　is　feasible　and　effective.　Copyright　©　2009　by　ASME.