分析漂浮基双臂空间机器人捕获非合作目标所受的冲击影响效应，及捕获后空间机器人和目标组成的闭链混合系统对目标夹持内力和位形的鲁棒镇定控制。将捕获目标过程视为两机械臂末端与目标碰撞前、碰撞过程和碰撞后三个阶段。在碰撞前空间机器人和目标是分离的两分体系统，利用第二类拉格朗日方程建立漂浮基双臂空间机器人系统的动力学模型。在机械臂末端与目标碰撞阶段，基于空间机器人与目标总动量守恒，利用动量定理计算翻滚目标对空间机器人运动状态的冲击影响效应。在碰撞后，双臂空间机器人已捕获翻滚目标并组成闭链混合系统，针对混合系统在碰撞阶段受冲击影响而产生不稳定运动，提出一种鲁棒控制算法对其进行镇定控制，以实现双臂对目标夹持内力和空间机器人位形的协调控制，并达到期望的稳定状态。数值仿真验证了上述控制算法的有效性。

The impact effect of a free-floating dual-arm space robot to capture a non-cooperative target is analyzed, and during the post-capture the space robot and the target compose a closed-chain hybrid system, then a clamp force and position robust stabilization control is discussed. The target capture process is considered as pre-impact phase，impact phase and post-impact phase. The space robot and target are separated subsystem in the pre-impact phase, and the dynamics model of free-floating space robot is derived by the second Lagrange equation. In the impact phase, base on the total momentum conservation of space robot and target, the impact effect for the space robot motion is calculated by momentum theorem. In the post-impact phase, the dual-arm space robot has captured the target and formed a closed-chain hybrid system, considering the unstable motion which is caused by the impact effect in the impact phase, a robust control algorithm is proposed for the stabilization control, to achieve the coordinate control of the dual arm’s clamp force to the target and space robot configuration position, and reach the desired stabilization state. The simulation verifies the above control algorithm.