The　dynamic　control　for　coordinated　motion　of　free-floating　space　manipulator　system　in　joint　space　is　discussed.　According　to　the　geometrical　relationship　and　the　linear　momentum　conservation　law,　the　dynamic　equations　of　space　manipulator　system　are　established　through　Lagrange　equation　of　the　second　kind.　Based　on　the　above,　a　fuzzy　wavelet　neural　network　scheme　is　designed　to　control　the　base＇s　attitude　and　the　joint　angle　of　manipulator　to　track　desired　trajectories　synchronously　in　joint　space.　The　control　scheme　needs　neither　linearly　parameterize　the　dynamic　equations　of　the　system,　nor　know　any　dynamic　parameters.　Moreover,　its　network　weight　is　learning　by　back　propagation　algorithm　online　so　the　training　time　is　saved.　Numerical　simulations　are　presented　to　verify　the　feasibility　and　effectiveness　of　the　proposed　control　scheme.　©　2009　by　ASME.