This　paper　is　concerned　with　the　robust　tracking　control　of　an　electrically　driven　free-floating　space　manipulator　with　internal　parameter　uncertainty　and　external　disturbance.　An　adaptive　disturbance-observer-based　output　feedback　control　is　employed　to　provide　a　solution　to　the　control　problem,　wherein　the　parameters　are　tuned　online　by　using　fuzzy　logic　systems　to　compensate　for　equivalent　disturbance,　and　the　stability　condition　of　the　closed-loop　system　is　also　derived.　The　suggested　method　does　not　require　exact　prior　knowledge　of　the　system　and　needs　a　few　parameters　to　tune.　The　simulation　results　of　a　two-link　electrically　driven　space　manipulator　show　the　effectiveness　and　applicability　of　the　proposed　control　scheme.