Dynamic　and　adaptive　control　problems　for　a　floating　dual-arm　space　robot　transferring　a　target　with　limited　inputs　are　discussed.　Based　on　the　Lagrange　method,　the　dynamic　model　of　an　open　chain　space　robot　is　established.　Then,　with　closed-loop　constraints　in　a　closed　chain　system,　a　dynamic　model　of　a　dual-arm　space　robot　system　is　obtained.　Upon　this　basis,　adaptive　control　is　proposed　for　the　closed　chain　system,　considering　uncertain　parameters,　external　disturbances,　and　limited　inputs,　to　complete　the　accurate　control　of　load　position　and　attitude.　The　input　torque　is　limited　by　a　control　law　with　a　saturation　function.　The　uncertainty　of　the　system　is　estimated　by　an　adaptive　controller.　The　velocity　and　angular　velocity　of　the　system　are　estimated　using　a　high　precision　filter,　requiring　only　the　feedback　position　and　the　angle　of　the　system.　The　stability　of　a　closed　chain　system　is　proved　via　the　Lyapunov　Method.　At　last,　numerical　examples　simulate　the　process　of　a　planar　dual-arm　space　robot　transferring　a　target　and　verify　the　efficiency　of　the　control　scheme.　©　2017,　Engineering　Mechanics　Press.　All　right　reserved.