The　dynamics　modeling　and　motion　control　problem　of　free-floating　flexible-joint　space　robot　with　uncertain　parameters　are　studied.　Combining　the　system　momentum　conservation,　angular　momentum　conservation　and　the　Lagrange　equation,　the　dynamic　equations　of　the　system　are　solved.　In　order　to　realize　the　trajectory　tracking　and　vibration　suppression,　the　system　singular　perturbation　model　is　established　according　to　singular　perturbation　theory.　A　robust　controller　is　proposed　for　the　slow　subsystem　to　compensate　the　angle　deformation　errors　and　uncertain　parameters,　and　to　guarantee　the　asymptotic　tracking　of　the　motion　trajectory.　While　a　velocity　feedback　controller　is　proposed　for　the　fast　subsystem　to　suppress　the　vibration,　and　to　guarantee　the　system　stability.　The　simulation　results　prove　the　efficiency　of　the　proposed　control　scheme.