In　this　paper,　the　kinematics　and　dynamics　of　free-floating　space　manipulator　systems　are　analyzed,　and　it　is　shown　that　the　Jacobian　matrix　and　the　dynamic　equations　of　the　systems　are　nonlinearly　dependent　on　inertial　parameters.　In　order　to　overcome　the　above　problems,　the　system　is　modeled　as　under-actuated　robot　system,　and　the　idea　of　augmentation　approach　is　adopted.　It　is　demonstrate　that　the　augmented　generalized　Jacobian　matrix　and　the　dynamic　equations　of　the　system　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results,　the　robust　adaptive　control　scheme　for　free-floating　space　manipulator　with　uncertain　inertial　parameters　to　track　to　desired　trajectory　in　workspace　is　proposed,　and　a　two-link　planar　space　manipulator　system　is　simulated　to　verify　the　proposed　control　scheme.　The　proposed　control　scheme　is　computationally　simple,　because　we　choose　to　make　the　controller　robust　to　the　uncertain　inertial　parameters　rather　than　explicitly　estimating　them　online.　In　particular,　it　require　neither　measuring　the　position,　velocity　and　acceleration　of　the　floating　base　with　respect　to　the　orbit　nor　controlling　the　position　and　attitude　angle　of　the　floating　base.