This master thesis proposes the application of the Enhanced Model Reference Adaptive Control (EMRAC) to a space robotic manipulator. The EMRAC aims to be an improvement of the more generic Model Reference Adaptive Control (MRAC) by adding an adaptive integral action and an adaptive switching term to compensate for slow and rapid changing disturbances. Further robustness is achieved by the adoption of the σ-modification strategy that prevents the drifting of the adaptive gains. The robotic arm will replicate a realistic space mission of rescuing a faulty non cooperative micro-satellite. To the best of the author's knowledge, this project application is a novel implementation of the EMRAC controller with σ-modification to a MIMO space robotic system.