In　this　paper,　the　impact　effect　and　post-capture　passivity-based　force/position　neural　network　H-infinity　robust　control　of　dual-arm　free-floating　space　robot　clamping　capture　non-cooperative　spacecraft　are　studied.　First,　the　dynamic　models　of　the　dual-arm　space　robot　and　the　target　spacecraft　before　capture　are　obtained　by　multi　rigid　body　dynamics　method.　After　that,　based　on　the　law　of　conservation　of　momentum　and　the　constraints　of　kinematics,　the　impact　effect　caused　by　collision　of　capture　process　is　analysed.　Finally,　the　integrated　dynamic　model　of　the　closed　chain　composite　system　is　derived.　On　the　basis,　a　force/position　neural　network　H-infinity　robust　control　scheme　based　on　passivity　theory　is　proposed　for　post-capture　closed　chain　composite　system　with　consider　actuator　saturation　and　external　disturbance,　which　can　achieve　the　coordinated　control　of　the　internal　force　and　position　of　the　target　spacecraft.　The　proposed　scheme　has　good　dynamic　characteristics　and　strong　robustness.　It　can　effectively　resist　the　interference　of　strong　impact　effect　caused　by　capture　operation　and　achieve　the　stabilization　control　of　composite　system.　The　numerical　simulation　results　verify　the　effectiveness　of　the　control　scheme.　Copyright　©　2019　by　the　International　Astronautical　Federation　(IAF).　All　rights　reserved.