The　control　problem　for　free-floating　space　robot　system　with　dual-arms　to　track　the　desired　trajectory　in　joint　space　was　discussed.　Because　the　base　of　space　robot　system　is　not　controlled　and　it　is　free-floating,　the　dynamic　equation　of　system　no　longer　cannot　be　linearly　parameterized.　It　results　the　control　of　space　robot　system　becomes　very　difficult.　Based　on　the　augmentation　approach,　the　inputs　and　outputs　of　system　were　expanded　properly　and　then　the　difficulties　proposed　above　were　overcome.　With　uncertain　parameters　of　the　manipulators　and　unknown　parameters　of　the　payloads,　the　adaptive　robust　control　scheme　for　space　robot　system　with　dual-arms　to　track　the　desired　trajectory　in　joint　space　was　developed.　A　planar　space　robot　system　with　dual-arms　was　simulated　to　verify　the　proposed　control　scheme.