As　the　technology　of　space　science　develops　rapidly,　space　robot　system　is　expected　to　capture　the　noncooperative　satellite　on-orbit.　Space　robot　with　dual-arm　obviously　has　more　comparative　advantage　in　this　respect　compared　with　the　one　with　single　arm.　Because　of　the　complicated　condition　in　outer　space　it　makes　the　dynamics　and　control　problems　related　to　satellite-capturing　operation　by　space　robot　system　with　dual-arm　to　be　extremely　complicated,　and　there　are　some　unique　characteristics,　such　as,　nonholonomic　dynamics　restriction,　change　of　system　configuration,　transfer　of　linear　momentum,　angular　momentum　and　energy,　topology　transfer　from　open　to　closed　loop　system,　and　the　constraints　of　closed-loop　geometry　and　kinematics　during　satellite-capturing　operation.　In　this　paper,　the　dynamic　evolution　for　space　robot　with　dual-arm　capturing　a　spin　satellite　and　calm　control　for　unstable　closed　chain　composite　system　are　discussed.　At　first,　with　the　Lagrangian　approach,　the　dynamic　model　of　open　chain　space　robot　with　dual-arm　before　capture　operation　is　established,　and　dynamic　model　of　satellite　is　derived　by　Newton-Euler　method.　On　that　basis,　based　on　the　law　of　conservation　of　momentum　and　the　law　of　force　transfer,　the　impact　effect　after　collision　of　space　robot　with　dual-arm　to　capture　the　target　is　analyzed　and　solved　by　the　process　of　integration　and　simplification,　and　the　suitable　capture　operation　strategy　is　given.　Closed　chain　constraint　equations　are　obtained　by　the　constraints　of　closed-loop　geometry　and　kinematics　of　closed　chain　system.　With　the　closed　chain　constraint　equations,　the　composite　system　dynamic　model　is　derived.　For　the　unstable　closed　chain　composite　system　after　the　capture,　the　fuzzy　H∞　control　scheme　for　calm　motion　is　designed.　The　fuzzy　logic　system　is　applied　to　overcome　the　influence　of　uncertainty　part　and　the　robust　H∞　control　item　is　used　to　eliminate　the　approximate　error,　to　guarantee　the　tracking　precision.　The　global　stability　of　the　system　is　proved　by　the　Lyapunov　theory.　The　weighted　minimum-norm　theory　is　introduced　to　distribute　torques　guaranteeing　that　the　cooperative　operation　between　manipulators.　At　last,　numerical　examples　simulated　the　response　of　collision　are　used　to　verify　the　efficiency　of　the　control　scheme.　©　2016,　Editorial　Office　of　Chinese　Journal　of　Theoretical　and　Applied　Mechanics.　All　right　reserved.