Space　robot　would　inevitably　contact　and　impact　with　satellites　during　the　capture　operations.　If　the　joints　were　not　effectively　protected　in　this　process,　it　was　easy　to　cause　the　failures　of　the　capture　operations.　Therefore,　a　spring-damper　device(SDD)　between　the　joint　motors　and　the　manipulators　was　proposed　and　added,　the　device　might　absorb　the　impact　energy　and　suppressed　the　flexible　vibrations,　and　might　mathch　the　designed　compliance　strategy　designed　to　achieve　compliance　of　capture　operations.　The　dynamics　model　of　dual-arm　space　robot　open-loop　system　and　satellite　system　before　capture　was　established　by　using　Lagrange　function　based　on　dissipation　theory　and　Newton-Euler　function　respectively.　Combined　with　Newton＇s　third　law,　velocity　constraints　of　capture　points,　closed-chain　geometric　constraints,　the　closed-chain　dynamics　model　of　hybrid　system　after　capture　was　obtained,　and　the　impact　effects　and　impact　forces　were　calculated　by　utilizing　the　momentum　conservation.　Based　on　the　barrier　Lyapunov　functions,　a　state　constraint　control　method　was　designed　to　realize　high-precision　tracking　of　trajectory,　the　influences　of　system　parameter　uncertainty　were　solved　by　fuzzy　adaptive　controller.　The　stability　of　the　system　was　proved　by　Lyapunov　theorem,　and　the　impact　resistance　of　the　device　and　the　effectiveness　of　the　proposed　strategy　were　verified　by　numerical　simulations.　©　2022　China　Mechanical　Engineering　Magazine　Office.　All　rights　reserved.