This　paper　discusses　the　dynamic　modeling　and　control　problem　of　a　dual-arms　space-based　robot　system　with　time　delay　to　track　a　desired　trajectory　in　a　work　space,　when　the　attitude　of　base　is　controlled　and　its　location　is　uncontrolled.　Combining　the　relationship　of　the　linear　momentum　conversation　and　the　Lagrange　approach,　the　dynamic　equation　and　the　Jacobian　relation　of　a　space-based　robot　system　with　dual-arms　are　analyzed　and　established.　Based　on　the　above　results,　for　the　case　of　a　space-based　robot　system　with　dual-arms　having　time　delay,　mathematical　models　suit　for　the　design　of　a　control　system　under　the　situation　of　time　delay　are　established　by　using　Taylor　series　expansion.　Using　the　mathematical　model,　an　improved　computed　torque　control　scheme　of　a　dual-arms　space-based　robot　system　with　time　delay　is　proposed.　Meanwhile,　use　Lyapunov＇s　second　method　to　prove　the　stability　of　the　control　system　combining　with　the　way　of　norms　and　graphical　analysis.　Under　the　situation　with　time　delay　for　a　system,　simulation　results　confirmed　this　control　scheme　still　be　possible　effectively　control　the　dual-arms　space-based　robot　system　to　track　a　desired　trajectory　in　a　work　space.