In　this　paper,　the　coordinated　control　of　the　base＇s　attitude　and　its　arm＇s　joints　of　dual-arm　space　robot　system　is　studied.　Firstly,　in　order　to　overcome　the　difficulty　that　the　dynamic　equations　of　dual-arm　space　robot　system　can　not　be　linearly　parameterized,　the　system　is　modeled　as　under-actuated　robot　system.　And　then　with　the　augmentation　approach,　we　demonstrate　that　the　dynamic　equations　of　the　system　can　be　linearly　dependent　on　inertial　parameters.　Based　on　the　results,　an　adaptive　control　scheme　of　dual-arm　space　robot　system　for　coordinated　motion　between　the　base＇s　attitude　and　the　arm＇s　joints　is　developed.　The　asymptotic　stability　of　the　control　scheme　is　proved　with　Lyapunov　method.　A　planar　dual-arm　space　robot　system　with　two　objects　is　simulated　to　verify　the　proposed　control　scheme.