In　this　paper,　the　adaptive　neural　network　control　scheme　of　coordinated　motion　between　the　base＇s　attitude　and　the　arms＇　joints　of　free-floating　dual-arm　space　robot　system　with　uncertain　parameters　is　considered.　The　controller　is　developed　based　on　the　neural　network　modeling　technique.　It　need　neither　linearly　parameterize　the　dynamic　equations　of　system,　nor　know　any　actual　inertial　parameters.　In　addition,　it　neither　requires　the　evaluation　of　inverse　dynamical　model,　nor　the　time-consuming　training　process.　Furthermore,　the　robust　control　can　be　easily　incorporated　to　suppress　the　neural　network　modeling　errors.　Simulation　results　based　on　a　planar　free-floating　dual-arm　space　robot　system　verify　the　feasibility　of　the　proposed　adaptive　neural　network　control　scheme.