Singular　perturbation　robust　control　is　proposed　for　a　free-floating　space　manipulator　with　multiple　flexible　links　and　unknown　but　bounded　physical　parameters.　The　dynamical　equation　is　established　based　on　the　Lagrange　equations　and　the　assumed　mode　technique.　A　singular　perturbation　model　has　been　formulated　and　used　for　designing　a　reduced-order　controller.　This　controller　consists　of　a　rigid　control　component　and　a　fast　control　component.　An　augmented　robust　controller　is　constructed　for　the　rigid　counterpart　of　the　flexible　manipulator.　The　fast　subsystem　controller　will　damp　out　the　vibrations　of　flexible　links　by　using　optimal　Linear　Quadratic　Regulator　method.　Numerical　simulations　by　undertaking　a　computer　simulation　of　a　two-flexible-link　manipulator　using　the　fourth-order　Runge-Kutta　integration　method　show　that　the　link　vibrations　have　been　stabilized　effectively　with　good　tracking　performance.