The　impact　effects　of　free-floating　space　robot　in　capturing　non-cooperative　spacecraft　and　post-capture　coordination　control　are　studied.The　dynamic　models　of　a　free-floating　space　robot　and　a　target　spacecraft　before　capture　are　obtained　by　Lagrange　method　and　Newton-Euler　method　respectively.After　this,based　on　the　principle　of　conservation　of　momentum,the　constraints　of　kinematics　and　the　law　of　force　transfer,the　impact　effects　caused　by　collision　of　the　capture　process　is　analyzed.Finally,the　dynamic　model　of　the　composite　system　is　derived.On　the　basis,neural　network　H-infinity　robust　control　for　calm　motion　based　on　passivity　theory　is　designed　for　the　composite　system　with　uncertain　parameters　and　external　disturbances.The　robust　control　algorithm　based　on　passivity　theory　in　this　paper　has　good　dynamic　characteristics　and　strong　robustness.Stabilization　control　of　composite　system　and　accurate　tracking　of　trajectory　can　be　achieved.Numerical　simulation　verifies　the　effectiveness　of　the　proposed　control　scheme.　©2019,　Editorial　Office　of　Chinese　Journal　of　Computational　Mechanics.　All　right　reserved.