Abstract: This paper discusses the dynamic modeling and control problem of a dual-arms space-based robot system with time delay to track a desired trajectory in a work space, when the attitude of base is controlled and its location is uncontrolled. Combining the relationship of the linear momentum conversation and the Lagrange approach, the dynamic equation and the Jacobian relation of a space-based robot system with dual-arms are analyzed and established. Based on the above results, for the case of a space-based robot system with dual-arms having time delay, mathematical models suit for the design of a control system under the situation of time delay are established by using Taylor series expansion. Using the mathematical model, an improved computed torque control scheme of a dual-arms space-based robot system with time delay is proposed. Meanwhile, use Lyapunov’s second method to prove the stability of the control system combining with the way of norms and graphical analysis. Under the situation with time delay for a system, simulation results confirmed this control scheme still be possible effectively control the dual-arms space-based robot system to track a desired trajectory in a work space.