Abstract: Future space manipulators will be required to perform complex tasks in space. These manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coupling between the manipulator and its spacecraft. This paper introduces a new analytical modeling method for space manipulators which is conceptually simple. By means of the new method, a control method for space manipulators based on the resolved motion accceleration control concept is developed. The proposed method is applicable in not only the system consisted of one manipulator but also the system consisted of multiple manipulators.