The　auxiliary　docking　maneuver　coordination　control　problems　for　dual-arm　space　robot　capturing　a　target　are　discussed.　The　dynamic　model　of　closed　chain　composite　system　is　established　based　on　theorem　of　impulse　and　closed-loop　constraints,　the　impact　effect　of　composite　system　after　capturing　operation　is　analyzed　at　the　same　time.　The　robust　coordinated　control　method　based　on　extended　state　observer　(ESO)　is　designed　for　the　composite　system　with　uncertain　parameters.　The　extended　state　observer　is　used　to　estimate　and　compensate　the　unknown　dynamics;　the　precision　of　docking　maneuver　is　guaranteed　by　composition　and　state　feedback　control.　The　stability　of　system　is　demonstrated　through　Lyapunov　theory.　Numerical　examples　confirm　the　effectiveness　of　the　proposed　auxiliary　docking　maneuver　control　method.　©　2018,　The　Editorial　Board　of　Journal　of　System　Simulation.　All　right　reserved.