The invention relates to a wave compensation dual-robot system used for an unmanned salvage ship, and a method. The wave compensation dual-robot system is characterized in that the wave compensation dual-robot system comprises robotic arm bodies, an infrared binocular camera, a computer and a motion controller; the specific control method comprises the steps that S1, a coordinate system is established; S2, images are collected; S3, data are processed; S4, robotic arms are switched; and S5, the robotic arms reset. Compared with a single wave compensation robotic arm, the larger working space isachieved, the space is flexible, and the two-hand cooperative operation efficiency is high; in visual positioning, a marker point is directly identified through the infrared binocular camera, compared with a template matching method, the speed is increased greatly, and the dynamic response ability of the system is improved; and master and slave manipulators can be autonomously set according to marker point information detected through vision to complete different tasks, and flexibility is high.