The　robust　control　and　active　vibration　suppression　of　a　free-floating　space　flexible　manipulator　with　an　attitude-controlled　base　are　studied.　Combined　the　momentum　conservation　of　the　system,　the　dynamic　equations　are　developed　by　using　the　Lagrangian　method　and　assumed　mode　method.　It　is　verified　that　the　dynamic　equations　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results　and　under　the　assumption　of　two-time　scale,　a　singular　perturbation　model　of　the　space　flexible　manipulator　system　is　obtained,　then　the　controller　can　be　designed　separately　to　track　desired　trajectory　and　to　suppress　vibration.　The　fast　subsystem　controller　will　damp　out　the　vibration　of　the　flexible　link　using　an　optimal　Linear　Quadratic　Regulator　(LQR)　method.　The　slow　subsystem　robust　controller　dominates　the　trajectory　tracking　of　coordinated　motion　with　uncertain　system　parameters.　The　numerical　simulation　is　carried　out,　which　confirms　that　the　proposed　controller　is　feasible　and　effective.