This paper addresses an adaptive control of a space manipulator termed JEMRMS for vibration suppression. Space manipulators such as JEMRMS are subject to vibrations due to structural flexibility. To cope with such a drawback, control strategies for minimization of vibration excitation and for maximization of vibration damping have already been developed. However those strategies require an accurate model of the manipulator dynamics. If a payload with unknown dynamic properties is being handled, the use of the above stated strategies will lead to vibration excitation, or to inaccurate positioning of the end point. In this paper, an adaptive control for the vibration suppression control is addressed to guarantee the stability of the system in the presence of model uncertainty.