Aiming　at　the　insertion　and　extraction　control　problems　of　space　manipulator　in　performing　orbit　parts　replacement,　orbit　fuel　filling　and　station　tasks,　a　super　twist　sliding　mode　impedance　control　strategy　for　orbit　insertion　and　extraction　of　space　manipulator　is　proposed.　Firstly,　combined　with　the　relationship　between　the　driving　force　at　the　end　of　the　replacement　parts,　the　friction　resistance　in　the　holes,　the　dynamic　equation　of　the　system　is　derived　by　the　second　Lagrange　equation　when　the　pose　of　the　carrier　are　not　controlled.　Secondly,　a　impedance　control　model　is　established　based　on　the　dynamic　relationship　between　the　pose,　the　driving　force　and　the　impedance　control　principle.　Finally,　aiming　at　the　uncertainty　of　dynamics　and　the　external　disturbance,　a　super　twist　sliding　mode　impedance　control　strategy　is　designed,　and　the　stability　of　the　control　system　is　proved　through　Lyapunov　theory.　The　high　frequency　switching　part　of　sliding　mode　control　is　hidden　in　the　higher　order　derivatives　of　the　sliding　mode　variables,　which　can　effectively　suppress　the　chattering　caused　by　common　sliding　mode　algorithm,　and　compensate　the　uncertainty　and　external　disturbance　of　the　system.　The　numerical　simulation　results　show　that,　the　position　accuracy　of　the　end　of　the　replacement　parts　is　better　than　1　mm,　the　attitude　accuracy　is　better　than　0.5　°,　and　the　output　force　accuracy　is　better　than　1.5　N,　which　verifies　the　effectiveness　of　the　proposed　control　strategy.　©　2022,　Editorial　Department　of　Journal　of　Chinese　Inertial　Technology.　All　right　reserved.