The　problem　of　collision　avoidance　compliance　control　for　dual-arm　space　robot　to　protect　joint　due　to　impact　in　the　process　of　capturing　satellite　is　discussed.　For　this　reason,　a　rotatory　series　elastic　actuator　(RSEA),　a　compliant　mechanism,　is　designed　between　the　joint　motor　and　the　manipulator.　It　has　two　functions:　firstly,　the　impact　energy　of　satellite　to　robot　joints　can　be　absorbed　by　RSEA＇s　built-in　spring　through　stretching　or　compressing　in　the　capture　operation;　secondly,　the　impact　torque　of　the　joints　can　be　limited　in　the　safe　range　by　reasonably　designing　a　matching　collision　avoidance　compliance　control　strategy.　First　of　all,　the　dual-arm　space　robot　with　compliant　mechanism　open-loop　subsystem　dynamics　model　and　the　target　satellite　subsystem　dynamics　model　are　established　before　capture　operation　by　the　second　Lagrange　equation.　Then,　based　on　the　momentum　conservation　and　geometric　constraints　of　the　position　and　velocity　of　the　closed-chain　system,　the　closed-chain　hybrid　system　of　the　space　robot　and　the　captured　satellite　is　obtained　after　the　capture　operation.　Finally,　for　calm　control　the　hybrid　system,　based　on　RBF　neural　network,　a　full-order　terminal　sliding　mode　collision　avoidance　compliance　control　scheme　is　proposed.　The　proposed　scheme　not　only　can　effectively　absorb　and　buffer　the　impact　energy　in　the　capture　operation,　but　can　turn　on　or　off　the　space　robot＇s　joint　motor　timely　when　the　impact　energy　is　too　large,　so　as　to　avoid　overload　and　damage　of　the　joint　actuator.　In　addition,　the　joint　torques　are　allocated　by　the　minimum　weight　norm　theory　to　ensure　the　coordinated　operation　between　manipulators.　The　global　stability　of　the　system　is　proved　by　the　Lyapunov　theory.　At　last,　the　effectiveness　of　the　collision　avoidance　compliance　control　strategy　is　verified　by　computer　simulation.　©　2019,　Chinese　Journal　of　Theoretical　and　Applied　Mechanics　Press.　All　right　reserved.