In　this　paper,　the　augmented　adaptive　control　problem　of　free-floating　dual-arm　space　robot　system　is　studied.　First,　the　dynamic　equations　of　free-floating　dual-arm　space　robot　system　are　derived　through　the　Lagranian　formulation.　With　the　augmentation　approach,　the　control　inputs　and　outputs　are　expanded.　Based　on　the　above　results,　an　augmented　adaptive　control　scheme　for　dual-arm　space　robot　system　with　unknown　payload　parameters　to　track　the　desired　trajectories　in　joint　space　is　developed.　A　simulation　study　of　a　planar　free-floating　dual-arm　space　robot　system　is　presented.　The　simulation　results　show　that　the　proposed　control　scheme　is　feasible　and　effective.