The　control　problem　of　free-floating　space　robot　system　with　dual-arm　is　studied.　The　dynamic　equations　of　the　system　are　formulated　by　the　under-actuated　form　to　guarantee　that　they　can　be　linearly　parameterized.　With　the　augmentation　approach,　the　dynamics　of　the　system　is　analyzed　and　the　augmented　generalized　Jacobi　matrix　of　the　system　can　also　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results,　a　robust-adaptive　combined　control　scheme　is　developed　for　dual-arm　space　robot　system　with　external　disturbances　and　uncertain　payload　parameters　to　track　the　desired　trajectories　in　inertial　space.　Comparing　with　the　adaptive　control,　the　control　scheme　proposed　can　effectively　reduce　the　calculation　time,　because　it　can　transfer　many　integral　operations　into　four　arithmetic　operations.　Therefore,　it　is　suitable　for　real-time　and　on-line　applications　in　space-based　robot　system.　The　simulation　results　verify　the　proposed　control　scheme.