The　adaptive　control　scheme　of　free-floating　space　robot　system　with　dual-arms　is　studied.　Because　of　the　linear　and　angular　momentum　conservation　of　the　system,　the　dynamic　equations　of　the　system　cannot　be　linearly　parameterized.　In　order　to　overcome　the　difficulty,　the　dynamic　equations　of　the　system　are　formulated　by　the　under-actuated　form,　and　with　the　augmentation　approach,　an　adaptive　control　scheme　is　developed　for　dual-arm　space　robot　system　with　unknown　payload　parameters　to　track　the　desired　trajectories　in　inertial　space.　A　simulation　of　a　planar　free-floating　space　robot　system　with　dual-arms　is　presented.　The　simulation　results　show　that　the　proposed　control　scheme　is　feasible　and　effective.