The　dynamics　control　and　simulation　of　dual-arm　space　robot　capture　object　was　studied.　The　dynamics　model　of　space　robot　was　derived　by　the　second　Lagrange　equation,　for　the　object　capture　process,　the　impact　influence　on　space　robot　base　and　arm　was　calculated　by　momentum　theory.　For　the　space　robot　and　object　close-chain　system　after　capturing,　a　force/position　coordinate　control　algorithm　was　designed　to　control　the　system　motion　and　object　clamp　force;　the　stability,　reliability　and　safety　of　capture　process　would　be　ensured　by　the　control　algorithm.　The　simulation　result　based　on　the　dynamics　model　and　control　algorithm　was　carried　out.　The　result　indicates　the　validity　of　above　analysis.　©　2017,　The　Editorial　Board　of　Journal　of　System　Simulation.　All　right　reserved.