<p>This paper is based on the on-orbit service task of dual-arm space robot (DSR), which employs single gimbaled control moment gyroscopes (SGCMGs) as the base actuator. Aiming at the SGCMGs friction nonlinearity and the external time-varying disturbance uncertainty existed in the space robot system, a finite-time adaptive robust controller for joints angle trajectory tracking is proposed. To cope with the nonlinear friction characteristics in the space robot base actuator, which could contribute to the degradation of angle trajectory tracking performance via control torque dynamic coupling effect, the new adaptive update laws are designed to estimate the unknown parameters. Meanwhile the disturbance upper bound is also estimated and the external disturbance can be compensated to reduce the adverse effects on the system. Lyapunov stability theory is employed to prove that the space robot system is practical finite-time stable. That is, the joints angle trajectory tracking error of the system can converge to an arbitrarily small neighborhood containing origin in finite time. The performance and effectiveness of the presented scheme is validated via conducted simulations in the presence of the actuator friction nonlinearity and external disturbance.</p>