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In this paper, the coordinated control of the base's attitude of dual-arm space robot system and the pay load hold by the end-effectors is discussed. First, the dynamic equations of dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach and the Jacobi matrix of system, the control inputs and outputs are expanded. Based on the above results, an adaptive control scheme for dual-arm space robot system with unknown payload parameters to track the desired trajectories is developed. A simulation study of planar dual-arm space robot system is presented. The simulation results show that the proposed control scheme is feasible and effective.