The　collision　avoidance　compliant　control　for　free-floating　space　robot　on-orbit　capture　non-cooperative　spacecraft　is　studied.　For　the　reason,　a　compliant　mechanism　is　mounted　between　the　joint　motor　and　manipulator.　First　of　all,　the　dynamic　models　of　the　space　robot　and　the　spacecraft　are　obtained　by　using　the　Lagrange　approach　and　Newton-Euler　method.　After　that,　based　on　the　law　of　conservation　of　momentum　and　the　law　of　force　transfer,　the　integrated　dynamic　model　of　the　combined　system　is　derived.　Finally,　considering　the　post-capture　unstable　combined　system,　a　passivity-based　active　disturbance　rejection　compliant　control　is　proposed　for　post-capture　combined　system.　The　combined　with　a　compliant　mechanism　control　scheme　proposed　above　can　not　only　effectively　absorb　the　impact　energy　generated　by　the　on-orbit　capture,　but　also　timely　open　and　close　the　joint　motor　when　the　impact　energy　is　too　large,　which　can　avoid　overload　and　damage　of　the　joint　motor.　In　addition,　the　control　scheme　uses　the　extended　state　observer　to　realize　the　dynamic　estimation　of　the　disturbance,　and　combine　with　passivity　theory　to　compensate　it,　which　can　improve　disturbance　rejection　ability　by　the　impact　effect　of　capture　effectively.　Numerical　simulation　verified　the　effectiveness　of　the　proposed　control　scheme.　Copyright　©　2019　by　the　International　Astronautical　Federation　(IAF).　All　rights　reserved.