To　solve　the　joint　movement　control　problem　of　a　flexible-joint　dual-arm　space　robot　system　with　an　uncontrolled　base　under　the　effects　of　external　disturbances　and　unknown　load　parameters,　a　singular　perturbation　augmented　robust　adaptive　PD　composite　control　method　was　proposed.　On　the　basis　of　the　under-actuated　robot　dynamic　sub-equations　and　joint　motor　dynamic　sub-equations,　a　singular　perturbation　correction　model　of　robot　system　was　established　by　using　the　flexibility　compensating　singular　perturbation　technique.　Then,　a　composite　control　integrating　the　fast　varying　state　feedback　control　and　the　augmented　robust　adaptive　PD　slowly　varying　control　were　designed　for　the　flexible-joint　dual-arm　space　robot　with　unknown　upper　bound　external　disturbances　and　unknown　load　parameters.　The　simulation　results　confirm　that　the　influences　of　the　joint　flexibility,　unknown　external　disturbances　and　unknown　load　parameters　can　be　eliminated　effectively　by　the　presented　control　method,　and　the　desired　joint　movement　of　dual-arm　space　robot　can　be　achieved　accurately.　©,　2015,　Chinese　Vibration　Engineering　Society.　All　right　reserved.