The　calm　control　for　attitude　and　joints　disturbed　motions　and　the　coordinate　operation　problems　were　discussed.　At　first,　according　to　the　theorem　of　impulse　and　the　closed-loop　constraints,　the　impact　effects　of　dual-arm　space　robot　capturing　a　spacecraft　were　analyzed　and　the　dynamics　equations　of　composite　closed　chain　system　were　obtained　simultaneously.　Then,　in　order　to　satisfy　the　compute　capacities　of　spaceborne　computer,　a　partitioned　sliding　mode　adaptive　control　scheme　was　designed　based　on　neural　network.　The　dynamics　of　combined　system　was　considered　as　a　set　of　nonlinear　interconnected　subsystems.　Concurrent　neural　networks　were　applied　to　approximate　the　unknown　dynamics　of　the　subsystems,　the　computational　efficiency　was　improved　by　concurrent　processes.　The　partitioned　sliding　mode　adaptive　controller　was　designed　to　eliminate　both　interconnection　terms　and　approximation　errors.　The　weighted　minimum-norm　theory　was　introduced　to　distribute　torques　guarantee　that　the　cooperative　operation　between　manipulators.　At　last,　numerical　examples　demonstrated　the　effectiveness　of　the　proposed　control　scheme.　©　2017,　China　Mechanical　Engineering　Magazine　Office.　All　right　reserved.