The　intelligent　control　problem　of　free-floating　flexible　space　manipulator　system　with　bounded　control　torques　and　uncertain　parameters　is　studied.　According　to　the　momentum　conservation　and　Lagrange-assumed　mode　method,　the　dynamic　equation　of　the　system　is　established.　In　order　to　realize　the　asymptotic　trajectory　tracking　of　the　angles　of　the　base＇s　attitude　and　the　joints,　and　to　suppress　the　system＇s　elastic　vibration,　the　system　is　decomposed　into　a　slow　subsystem　and　a　fast　subsystem　base　on　the　singular　perturbation　approach.　For　the　fast　subsystem,　a　second　optimization　control　is　used　to　suppress　the　vibration　of　the　flexible　link,　guarantee　the　system＇s　stability.　For　the　slow　subsystem,　a　robust　and　adaptive　composite　controller　is　designed.　The　proposed　controller　can　limit　the　control　torques　effectively　by　the　continuous　differentiable　increasing　functions,　which　lets　the　controller　more　practical.　And　it　can　overcome　the　parametric　uncertainty＇s　influence　by　use　of　robust　and　adaptive　adjustment,　so　that　it　can　guarantee　the　precision　of　the　control　system.　The　computer　simulation　results　show　the　efficiency　of　the　controller.