The　coordinated　control　of　the　base　attitude　and　arms　of　space-based　robot　system　is　studied.　With　the　ideas　of　augmentation　approach,　the　difficulties　of　nonlinear　parameterization　of　the　system　dynamic　equations　are　overcome.　Based　on　the　results　proposed　above,　the　adaptive　and　robust　control　schemes　of　coordinated　motion　for　both　the　base　and　manipulator　to　track　the　desired　trajectory　are　developed.　A　two-link　planar　space-based　robot　system　is　simulated　to　verify　the　proposed　control　schemes.