The invention relates to a multidomain uniform modeling and emulation system of a space robot, comprising a space robot path planer (1), a joint shaft module (2), a space robot hand and eye cameral measuring module (3), a space robot mechanism module (4), a world coordinate and centerbody gravitational field (5), a track dynamics and space environment module (6), a space robot base sensor module (7), a propulsion module (8), a counteractive flywheel assembly (10) and a space robot base posture track control module (9). Model libraries are developed by adopting multidomain physical system modeling language Modelica, thereby seamless integration and data switching among models in different domains, such as machinery, electric, software, control and the like, are thoroughly realized, and the target of multidisciplinary optimization design is realized. Based on the modeling and emulation system, the invention can conveniently realize the modeling and emulation of single-arm and multi-arm space robots under the modes of free flying and free floating.