The　adaptive　and　robust　control　problems　of　dual-arm　space　robot　system　without　the　base＇s　position　control　were　discussed.　Firstly,　the　underactuated　dynamics　equation　of　the　system　was　derived　through　the　Lagrangian　formulation.　Based　on　the　above　dynamics　equation　and　with　the　augmentation　approach,　the　inputs　and　outputs　of　the　system　were　expanded　properly　to　overcome　the　difficulty　of　nonlinear　parameterization　in　the　dynamics　equation　of　the　full-controlled　system.　And　then　with　unknown　and　uncertain　parameters　of　the　payloads　hold　by　the　two　end-effectors,　the　adaptive　and　robust　control　schemes　of　coordinated　motion　between　the　base＇s　attitude　and　the　arm＇s　joints　were　developed.　The　simulation　results　indicate　that　the　two　control　schemes　can　efficiently　eliminate　the　effect　of　the　unknown　and　uncertain　parameters　on　the　system　and　control　the　base＇s　attitude　and　the　arm＇s　joints　to　track　the　desired　trajectories　accurately.