This paper proposes a control method for space manipulators, involving concurrent operation of an optimal and a coordinated controller. The optimal controller moves center of mass of the base spacecraft to a desired position along an optimal rendezvous trajectory for minimizing the energy. The optimal control problem is solved through Calculus of Variations, using saturation functions to represent the physical limitations in thrust forces. The coordinated controller drives the arm end-effector to a desired pose (for rendezvousing with the target), as well as making the base attitude follow a desired profile. It also generates augmented reactive moments on the base spacecraft to ensure controlling its attitude when the base actuators reach their limits. Simulations of a realistic space manipulator model demonstrate the performance of the proposed concurrent control method.