The　paper　studies　the　anti-torque-windup　control　and　flexible　vibration　suppression　problems　on　the　coordinated　positioning　of　the　base　attitude　and　manipulator　joints　of　a　free-floating　flexible-joint　dual-arm　space　robot.　The　full-actuated　dynamic　equations　of　flexible-joint　dual-arm　space　robot　with　an　attitude-controlled　base　are　derived　by　using　the　linear　momentum　conservation　and　Lagrange　method.　With　the　flexibility　compensating　and　singular　perturbation　technology,　singular　perturbation　model　of　the　system　is　obtained.　To　suppress　the　joint　flexible　vibration　of　two　arms,　a　torque　differential　state　feedback　control　strategy　is　presented　for　the　fast　subsystem.　Meanwhile,　an　anti-torque-windup　control　method　based　on　the　torque　active　constraint　design　is　proposed　for　the　slow　subsystem　to　track　the　desired　positions　of　the　base　attitude　and　joints,　and　then　the　control　saturation　problems　of　the　actual　base　attitude　control　system　and　joint　motors　are　avoided.　The　obtained　simulation　results　show　that　the　proposed　control　scheme　can　accurately　position　the　base　attitude　and　two　arms＇　joint,　suppress　the　flexible　vibration　of　joints　and　limit　the　output　amplitude　of　the　actual　control　torques　effectively.　©　2016,　Engineering　Mechanics　Press.　All　right　reserved.