Design of robust and adaptive controller for nonholonomic mobile manipulator is researched. Screws-based dynamics model of nonholonomic mobile manipulator systems is built. By backstepping control technology, applying nonlinear- Parameterized fuzzy logical systems fuzzy logical systems, a robust and adaptive fuzzy controller of mobile manipulator is designed. The controller relaxes demands of skew symmetry when designing controllers of mobile manipulator, and it has stronger robustness and adaptive capacity to uncertainties of parameters or disturbance etc. existing in mobile manipulator systems. Theory proofs and simulation results indicate the designed controller is effective.