Abstract: This paper focuses on the design scheme of ground tested system on ground for dual arm free flying space robot, which can capture the floating target autonomously in an artificial micro gravity environment. The system cosists of six sub system, such as robot vision, communication,host computer platform and floating target. Firstly, it discusses the design principle of the components of the system, with emphasis on the robot experimental model. Secondly, deliberates the control system architecture based on hierarchy descending which user interface, strategic control and dynamic control. Finally, it taks over the control algorithm of flying maneuver and arm slew.