Dynamics and control of a tethered space robot (TSR), manipulating a space structure was analyzed in this thesis. The system investigated in the thesis consists of a main satellite moving on a predefined circular orbit around the Earth, a two link manipulator, a tether connecting the robot to the main satellite, and rigid structure manipulating by the robot. It is assumed that the main satellite is fully controlled and the TSR dynamics does not affect its motion. A reel mechanism in the main satellite is used to change the tether length. Transferring the along a given trajectory and moving it to a specific point is the mission of this TSR system. Due to limited range of tether length variation during the mission, typical control schemes fails to perform the task. To analyze the system dynamics and design a controller, dynamics of the system is initially modeled and equations of motion of the system were derived. Partitioning dynamics of the system into two parts, librational motion of the tether and manipulation of the structure, a hybrid NMPC-CTM controller was then introduced to achieve the proposed control goals. The nonlinear model predictive controller was mainly introduced to control the tether libration while keeping the tether length more or less unchanged. The computed torque part was established to handle the structure manipulation. The NMPC controller was initially designed for a simple tethered system consisting of a point mass connected to the main satellite trough a rigid tether and stabilization of the tether libration of the in its equilibrium position is analyzed numerically. It was observed that the controller was capable to perform the control task while the tether length changed less than one percent. In the next step, the designed controller used in the proposed hybrid system, considering the manipulator coupling dynamics as the disturbance on the tether libration. Then the hybrid controller was used to study stabilization and trajectory tracking in the structure manipulation problems. It was seen that the controller succeeded to handle both control objective and to keep the change of the tether length limited. Finally the effect of the tether flexibility on the performance of the control system was studied considering the effect of the tether flexibility as the system disturbance. Keywords: Tethered Space Robot, Model Predictive Control, Trajectory Tracking, Hybrid Controller