Abstract: Under the condition that the base position and attitude of the free-floating dual-arm space robot system are uncontrolled,the self-learning control problem based on fuzzy Gaussian function neural network is addressed.Since this space robot strictly abide by the rules of momentum conservation and angular momentum conservation,its dynamic equations exhibit a strong nonlinearity.When fuzzy control and neural network are combined,i.e.,the fuzzy inference is realized by neural network,the fuzzy control obtains its self-learning ability.Then the self-learning control scheme based on fuzzy Gaussian function neural network is designed for the dual-arm space robot system in joint space.Numerical simulation is carried out,and the effectiveness of the proposed method is validated.