The growing of space debris orbiting around the Earth has become a significant problem for active spacecraft and future missions, due to the risk of collision and the accumulation of artificial objects, especially in Low Earth Orbit (LEO). In order to mitigate the problem, new solutions have been proposed. Space robotics has been included in on-orbit services to help human activities in the space environment, and in particular robotic manipulators can play a key role in active debris removal. The purpose of this thesis is the development of a flexible spacecraft dynamics and control model including a space manipulator. A hybrid approach is used for implementing the main body and the manipulator dynamics.