The　collision　avoidance　and　compliant　control　for　free-floating　space　robots　on-orbit　capture　non-cooperative　spacecraft　is　studied.　For　the　reason,　a　spring　class　compliant　mechanism,　rotary　series　elastic　actuator　(RSEA),　is　mounted　between　the　joint　motor　and　the　manipulator,　its　functions　are:　1)　The　deformation　of　its　internal　spring　can　absorb　the　impact　energy　of　the　captured　spacecraft　on　the　joints　of　the　space　robot;　2)　The　joint　impact　torque　can　be　limited　to　a　safe　range　by　combining　with　the　collision　avoidance　compliant　control　scheme.　First　of　all,　the　dynamic　models　of　the　space　robot　and　the　target　spacecraft　before　capture　are　obtained　by　using　the　Lagrange　approach　and　Newton-Euler　method.　Then　based　on　the　law　of　conservation　of　momentum,　the　constraints　of　kinematics　and　the　law　of　force　transfer,　the　integrated　dynamic　model　of　the　combined　system　is　derived;　Finally,　considering　the　post-capture　unstable　combined　system,　a　collision　avoidance　and　compliant　composite　error　active　disturbance　rejection　control　is　proposed　for　the　stabilization　control.　Numerical　simulation　verifies　the　effectiveness　of　the　proposed　collision　avoidance　and　compliant　control　method.　Copyright　©2021　Control　and　Decision.