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In this paper, the kinematics and dynamics of free-flying dual-arm space robot systems are analyzed. By use the method of multibody dynamics, the dynamics equations and Jacobi relationship of dual-arm space robot systems are established. Based on the results, the control problem for dual-arm space robot to track the desired trajectory in workspace is discussed. Because of the high structure complexity and the parameter uncertainly of dual-arm space robot systems, the scheme of variable structure control with better robustness to uncertainty and disturbance is proposed. The advantages of the control scheme proposed are that it need not to control the position of the base. To show the feasibility of the proposed control scheme, a simulation study of dual-arm space robot systems is presented.