In　the　control　of　space　robots,　flexible　vibrations　exist　in　the　base,　links　and　joints.　When　building　a　motion　control　scheme,　the　following　three　aspects　should　be　considered:　(1)　the　complexity　in　dynamic　modeling;　(2)　the　low　accuracy　of　motion　control　and　(3)　the　simultaneous　suppression　of　multiple　flexible　vibrations.　In　this　paper,　we　propose　a　motion　vibration　integrated　saturation　control　scheme.　First,　the　dynamic　model　of　space　robot　with　flexible-base,　flexible-link　and　flexible-joint　is　established　according　to　the　assumed　modes　method　and　Lagrange　equation.　Second,　singular　perturbation　theory　is　used　to　decompose　the　model　into　two　subsystems:　a　slow　subsystem　containing　the　rigid　motions　of　base　and　joints　as　well　as　the　vibration　of　links,　and　a　fast　subsystem　containing　vibrations　of　base　and　joints.　Third,　an　integrated　sliding　mode　control　with　input　restriction,　output　feedback　and　repetitive　learning　(ISMC-IOR)　is　designed,　which　can　track　the　desired　trajectories　of　base　and　joints　with　-3　orders　of　magnitude　accuracy,　while　suppressing　the　multiple　flexible　vibrations　of　base,　links　and　joints　50%-80%　and　37%　performance　improvement　over　ISMC-IOR-NV　were　achieved.　Finally,　the　algorithm　is　verified　by　simulations.　©