In　this　paper,　the　coordinated　control　of　the　base＇s　attitude　and　its　arms　of　space-based　robot　system　is　studied.　With　the　momentum　conservation　of　system,　the　kinematics　and　dynamics　of　system　are　analyzed.　It　is　shown　that　the　generalized　Jacobi　matrix　and　dynamic　equations　of　the　system　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results　proposed　above,　first　a　robust　control　scheme　of　coordinated　motion　in　joint　space　is　developed,　then,　a　robust　and　adaptive　composite　control　scheme　of　coordinated　motion　for　both　the　base＇s　attitude　and　its　arms　to　track　the　desired　trajectory　in　inertia　space　is　proposed.　Both　control　schemes　proposed　above　possess　the　advantages　that　needs　no　measuring　the　position,　velocity　and　acceleration　of　the　base　with　respect　to　the　orbit,　because　of　an　effective　exploitation　of　the　particular　property　of　the　system　dynamics.　The　first　control　scheme　needs　estimating　less　unknown　parameters　and　possess　stronger　convergence　as　compared　with　the　second　control　scheme.　Therefore,　it　is　suggested　that　the　motion　planning　in　joint　space　possess　priority　as　the　tasks　of　space-based　robot　system　are　specified.　To　show　the　feasibility　of　both　control　schemes　proposed　above,　two　simulation　studies　are　present.