Abstract: In this paper, the control of coordinated motion of spacecraft attitude and the end-effector of a free-floating space-based robot system is discussed. The dynamics of the system is analyzed. It is shown that the augmented generalized Jacobian matrix and the dynamic equations of the system are linearly dependent on inertial parameters. Based on the results, the robust adaptive control scheme of coordinated motion of spacecraft attitude and the desired trajectory in workspace of its end-effector is proposed, and a two-link planar space-based robot system is simulated to verify the proposed control scheme. The control scheme is shown to be computationally simple since the controller is made robust to the uncertain inertial parameters and online evaluation is made unnecessary.