The dynamic model of a planar free-floating rigid-flexible redundant space manipulator with tree joints is derived by the assumed mode method, Lagrange principle and momentum conservation. Based on minimal joint torque optimization, the state equations of chaos motion for the free-floating redundant space manipulator are built. Then chaotic numerical method is used to analyze chaotic dynamic characteristics of the model. The robust Proportional-Derivative(PD) compensatory control, the delayed feedback control and the optimal control are designed in work space, joint space and mode space respectively. The composite control can assure the trajectory tracking, chaotic suppression and vibration control. The experimental results show the effectiveness of the presented methods.