In　this　paper,　the　robust　control　problem　for　free-floating　dual-arm　space　robot　system　with　two　objects　is　discussed.　Firstly,　the　kinematics　and　dynamics　of　free-floating　dual-arm　space　robot　system　with　two　objects　are　analysed.　In　order　to　overcome　the　difficulty　that　the　dynamic　equations　of　the　system　are　nonlinearly　dependent　on　inertial　parameters,　the　system　is　modeled　as　under-actuated　robot　system,　and　the　idea　of　augmentation　approach　is　adopted.　It　is　demonstrated　that　the　dynamic　equations　of　the　system　can　be　linearly　dependent　on　a　group　of　inertial　parameters　with　augmented　inputs　and　outputs.　And　then　based　on　the　above　results,　the　robust　control　scheme　for　dual-arm　space　robot　system　with　uncertain　inertial　parameters　to　track　the　desired　trajectories　in　joint　space　is　proposed.　The　proposed　control　scheme　is　computationally　simple,　because　we　guarantee　the　controller　robust　to　the　uncertain　inertial　parameters　rather　than　explicitly　estimating　them　online.　In　addition　to　this,　it　need　not　require　controlling　the　position　and　attitude　of　the　floating　base.　Finally,　a　planar　free-floating　dual-arm　space　robot　system　with　two　objects　is　simulated　to　verify　the　proposed　control　scheme.　©　2006　IEEE.