based on the fact subject to physical constraints, space robots carried by the motor can not be done infinitely large, and also hopes to make motor may be small, so the driver output torque is limited, so that the controller may lead to control failure or deterioration of quality control.So in this paper base on input constraints.the robust-adaptive control scheme of dual-arm space robot system without controlling the bases position to track the desired trajectories in inertial space is studied[1-5].Compared with the single-arm space robot.