This paper builds a kinematics model of the dual-arm six degree of freedom space robot

and deducts the generalized Jacobian matrix which describes the relationship between the motion rate of manipulator end and the rotation rate of joints based on this model.The deducted generalized Jacobian matrix is more simple in its model and demands less work in computation than those deducted by other methods.The formula of the generalized Jacobian matrix is explicit and is easy to solve.We can obtain the generalized Jacobian matrix only if we substitute the parameters of the space robot into the deducted formula of the generalized Jacobian matrix.The method of building the model fits to adopt the resolved motion rate control.This paper gives the simulation to control the dual-arm six degree of freedom space robot based on the resolved motion rate control method.