The　coordinated　control　for　the　base＇s　attitude　and　the　arm　of　space-based　robot　system　with　uncertain　parameters　and　external　disturbances　is　considered　in　this　paper.　With　the　linear　momentum　conservation　of　the　system,　the　kinematics　and　dynamics　of　the　system　are　analyzed.　It　is　shown　that　the　generalized　Jacobi　matrix　and　the　dynamic　equations　of　the　system　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results,　a　robust　control　scheme　and　a　robust　adaptive　composite　control　scheme　for　the　coordinated　motion　in　joint　space　and　inertial　space　are　proposed,　respectively,　and　then　the　stability　of　the　overall　system　is　analyzed　through　Lyapunov　direct　method.　The　first　presented　approach　can　guarantee　the　uniform　ultimate　boundedness　of　the　tracking　error.　For　the　second　control　scheme,　the　global　uniform　asymptotic　stability　of　the　system　is　established.　Both　control　schemes　proposed　need　not　measure　the　position,　linear　velocity　and　acceleration　of　the　floating　base　with　respect　to　the　orbit　because　of　an　effective　exploitation　of　the　particular　property　of　the　system　dynamics.　The　simulation　results　are　exhibited　to　support　the　theoretical　issues.