The　problem　of　collision　avoidance　compliant　control　for　a　free-floating　space　robot　to　protect　its　joints　due　to　impact　in　the　process　of　capturing　non-cooperative　spacecraft　is　discussed.For　this　purpose,a　Rotary　Series　Elastic　Actuator　(RSEA)　is　mounted　between　the　joint　motor　and　manipulator.Its　functions　are:first,the　deformation　of　its　internal　spring　can　absorb　and　buffer　the　impact　energy　on　the　joints　of　the　space　robot　caused　by　the　captured　spacecraft　during　the　capture　collision　phase.Second,in　the　stabilization　stage　of　post-capture,the　joint　impact　torque　can　be　limited　to　a　safe　range　by　combining　the　collision　avoidance　compliant　control　scheme.According　to　the　Lagrange　approach　and　Newton-Euler　method,the　system　dynamics　equation　of　space　robot　and　the　satellite　are　obtained.After　that,based　on　the　law　of　conservation　of　momentum,the　constraints　of　kinematics　and　geometric　constraints　of　the　position,the　integrated　dynamic　model　of　the　composite　system　is　derived.On　that　basis,in　order　to　calm　control　of　the　post-capture　unstable　composite　system,a　collision　avoidance　compliant　fuzzy　control　scheme　based　on　passivity　theory　is　proposed.Finally,the　effectiveness　of　the　proposed　collision　avoidance　compliant　control　strategy　is　verified　by　simulation　experiments.　©　2020,　Editorial　Office　of　Chinese　Journal　of　Computational　Mechanics.　All　right　reserved.