Flexible members such as solar panels of robotic systems during a maneuver may get stimulated and vibrate. ‎Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated ‎object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be ‎prevented. In this paper, a new control algorithm for an object manipulation task by a wheeled mobile robotic ‎system with flexible members is proposed. To this end, a new dynamics modelling approach for control ‎implementations on compounded rigid-flexible multi-body systems is introduced. Then, based on a designed ‎path/trajectory for a wheeled mobile robotic system, an Adaptive Hybrid Suppression Control (AHSC) is proposed ‎to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a wheeled ‎mobile robotic system is simulated which contains two manipulators, and a rotating antenna and a camera as its ‎third and fourth arms, appended with two solar panels as has been proposed for space explorations. Obtained ‎results reveal the merits of the proposed AHSC algorithm which will be discussed.‎