In　this　paper,　the　coordinated　control　of　the　base＇s　attitude　of　dual-arm　space　robot　system　and　the　payload　hold　by　the　end-effectors　is　discussed.　First,　the　dynamic　equations　of　dual-arm　space　robot　system　are　derived　through　the　Lagranian　formulation.　With　the　augmentation　approach　and　the　Jacobi　matrix　of　system,　the　control　inputs　and　outputs　are　expanded.　Based　on　the　above　results,　an　adaptive　control　scheme　for　dual-arm　space　robot　system　with　unknown　payload　parameters　to　track　the　desired　trajectories　is　developed.　A　simulation　study　of　planar　dual-arm　space　robot　system　is　presented.　The　simulation　results　show　that　the　proposed　control　scheme　is　feasible　and　effective.