In　this　paper,　the　control　problem　of　free-floating　dual-arm　space　robot　system　with　uncertain　parameters　is　studied.　Because　the　base　of　dual-arm　space　robot　is　not　controlled　and　it　is　free-floating,　the　dynamic　equations　of　space　robot　system　no　longer　are　linearly　parameterized.　It　results　the　control　of　space　robot　system　becomes　very　difficult.　Based　on　the　idea　of　augmentation　approach,　the　difficulty　proposed　above　is　overcome,　and　the　robust　adaptive　composite　control　scheme　for　dual-arm　space　robot　to　track　the　desired　trajectory　in　inertial　space　is　developed.　The　asymptotic　stability　of　the　control　scheme　is　proved　with　Lyapunov　method.　A　planar　free-floating　dual-arm　space　robot　system　with　two　payloads　is　simulated　to　verify　the　proposed　control　scheme.　©　2006　IEEE.