The modeling and joint control is one of key technologies for space manipulator. One important issue in dynamic modeling is super-low frequency flexibility, on which bending vibration of arm and joint torsional vibration should be considered, the other is to consider joint torque transfer of gear mechanism and dynamic coupling between manipulator and its base. The control issue is to realize the joint position control and also to stabilize and suppress low-frequency vibration of arm and joint according to the joint structure and sensor configuration. Therefore the dynamic modeling and control of space manipulator from standpoint of engineering were put forward , which have referential values in design and research development of space manipulator.