The unknown inertial parameters will result in inaccurate space robot system model and make making the common joint movement trajectory tracking control method become invalid.To solve the problem, a new joint movement trajectory tracking control method based on adaptive fuzzy algorithm is proposed.Based on the universal approximation property of fuzzy system, a parameter adaptive regulation method is used to identify the space robot system model online, solving the problems that space robot does not possess the prior knowledge of inertial parameters and usual linear properties.An adaptive fuzzy controller is designed, to realize joint space trajectory tracking control for dual-arm space robot system;and Lyapunov function is constructed to prove the stability of this fuzzy control system.The numerical simulation result verifies the validity of the proposed control method.