In　this　paper,　the　dynamic　evolution　for　a　dual-arm　space　robot　capturing　a　spacecraft　is　studied,　the　impact　effect　and　the　coordinated　stabilization　control　problem　for　post-impact　closed　chain　system　are　discussed.　At　first,　the　pre-impact　dynamic　equations　of　open　chain　dual-arm　space　robot　are　established　by　Lagrangian　approach,　and　the　dynamic　equations　of　a　spacecraft　are　obtained　by　Newton-Euler　method.　Based　on　the　results,　with　the　process　of　integral　and　simplify,　the　response　of　the　dual-arm　space　robot　impacted　by　the　spacecraft　is　analyzed　by　momentum　conservation　law　and　force　transfer　law.　The　closed　chain　system　is　formed　in　the　post-impact　phase.　Closed　chain　constraint　equations　are　obtained　by　the　constraints　of　closed-loop　geometry　and　kinematics.　With　the　closed　chain　constraint　equations,　the　composite　system　dynamic　equations　are　derived.　Secondly,　the　recurrent　fuzzy　neural　network　control　scheme　is　designed　for　calm　motion　of　unstable　closed　chain　system　with　uncertain　system　parameter.　In　order　to　overcome　the　effects　of　uncertain　system　inertial　parameters,　the　recurrent　fuzzy　neural　network　is　used　to　approximate　the　unknown　part,　the　control　method　with　H　tracking　characteristic.　According　to　the　Lyapunov　theory,　the　global　stability　is　demonstrated.　Meanwhile,　the　weighted　minimum-norm　theory　is　introduced　to　distribute　torques　guarantee　that　cooperative　operation　between　manipulators.　At　last,　numerical　examples　simulate　the　response　of　the　collision,　and　the　efficiency　of　the　control　scheme　is　verified　by　the　simulation　results.　©　2014　Chinese　Association　of　Automation.