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In this paper, the coordinated control of the base attitude of the space robot system with prismatic joint and arms is studied. Based on the momentum conservation, the kinematics and dynamics of the system are analyzed. It is shown that the generalized Jacobian matrix and dynamic equations of the system can be linearly dependent on a group of inertial parameters. From the results proposed above, the adaptive and robust composite coordinated motion control scheme for both the base attitude and its arms to track the desired trajectory is developed. The control scheme proposed has the advantage that no measuring or controlling the position, velocity and acceleration of the base with respect to the orbit is needed, due to an effective exploitation of the particular property of the system dynamics. A two-link planar space robot system is simulated to verify the proposed control scheme.