This　thesis　discusses　control　problem　of　free-floating　space　robot　system　with　bounded　torque　inputs　and　uncertain　parameters　is　studied.　The　kinematics　and　dynamics　of　the　system　were　analyzed　by　use　of　momentum　conservation.　Base　on　the　results,　a　nonlinear　feedback　composite　control　based　computed　torque　method　for　free-　floating　space　robot　system　with　bounded　torque　inputs　is　put　forward　by　embedding　saturation　function.　The　resulting　controller　consists　of　two　loops.　The　inner　loop　is　the　full　compensation　for　space　robot　nonlinear　dynamics　and　the　outer　loop　is　the　composite　nonlinear　feedback　for　stabilization　and　performance　enhancement.　With　the　feedback　linearization　technique　and　the　Lyapunov　theory,　the　asymptotic　stability　of　the　closed　system　is　proved.　In　addition　to　the　guaranteed　stability　properties,　the　controller　takes　advantage　of　a　varying　damping　ratio　induced　by　the　composite　nonlinear　feedback　control.　The　varying　damping　ratio　allows　fast　transient　response　without　overshoot,　so　the　controller　is　more　suitable　for　practical　applications.　The　simulation　results　show　the　feasibility　and　efficiency　of　the　control　scheme.　Copyright　©　(2012)　by　the　International　Astronautical　Federation.