Dynamic　and　control　problems　of　free-floating　dual-arm　space　robot　grasping　system　with　a　closed　kinematic　chain　are　discussed　in　this　article.　A　nonlinear　dynamic　model　of　the　dual-arm　space　robot　system　is　obtained　via　the　Lagrange　method,　and　the　dynamic　model　of　an　object　is　obtained　based　on　the　Newton-Euler　method.　Based　on　the　results,　and　in　association　with　the　principle　of　conservational　linear　and　angular　moment　of　a　space　robotic　system　with　closed　kinematic　chain　constraints,　the　dynamic　model　of　a　synthetical　system　is　obtained.　On　the　basis　of　these　results　and　considering　the　high　structure　complexity　and　the　parameter　uncertainty　of　such　a　system,　a　fuzzy　adaptive　cooperative　scheme　of　force/position　control　based　on　the　integral　sliding　mode　for　such　a　system　with　uncertainty　is　proposed　according　to　fuzzy　control　theory　and　Lyapunov　stability　theory.　Therefore,　the　position　and　internal　force　of　the　grasped　object　can　be　regulated　simultaneously.　The　effect　of　the　controllers　is　testified　by　computer　simulation.