A　robust　and　adaptive　composite　controller　is　proposed　for　the　free-floating　space　flexible　manipulator　system　with　bounded　torque　inputs　and　uncertain　parameters.　According　to　the　momentum　conservation　of　the　system　and　the　Lagrange-Assumed　mode　method,　the　dynamic　equations　of　the　system　are　established.　Then,　base　on　the　singular　perturbation　approach,　the　system　is　decomposed　into　a　fast　subsystem　and　a　slow　subsystem.　For　the　fast　subsystem,　the　second　optimization　control　is　used　to　suppress　the　vibration　of　the　flexible　link.　For　the　slow　subsystem,　a　robust　and　adaptive　composite　controller　is　designed　to　achieve　the　trajectory　tracking　of　the　system.　The　continuous　differentiable　increasing　functions　with　errors　are　applied　in　the　control　law　to　ensure　the　boundary　of　torque　inputs.　The　simulation　results　show　that,　the　proposed　controller　has　fast　convergence,　good　stability,　good　tracking　performance,　and　it　can　strictly　guarantee　the　boundary　of　the　torque　inputs.　Moreover,　in　the　case　of　parameters　uncertainty,　regardless　of　whether　the　parameter-region　is　precise,　the　control　accuracy　is　guaranteed.　That　shows　the　strong　robustness.　Copyright　©2011　by　the　International　Astronautical　Federation.　All　rights　reserved.