The　impact　effect　of　a　free-floating　dual-arm　space　robot　to　capture　a　non-cooperative　target　is　analyzed,　and　during　the　post-capture　the　space　robot　and　the　target　compose　a　closed-chain　hybrid　system,　then　a　clamp　force　and　position　robust　stabilization　control　is　discussed.　The　target　capture　process　is　considered　as　pre-impact　phase,　impact　phase　and　post-impact　phase.　The　space　robot　and　target　are　separated　subsystem　in　the　pre-impact　phase,　and　the　dynamics　model　of　free-floating　space　robot　is　derived　by　the　second　Lagrange　equation.　In　the　impact　phase,　base　on　the　total　momentum　conservation　of　space　robot　and　target,　the　impact　effect　for　the　space　robot　motion　is　calculated　by　momentum　theorem.　In　the　post-impact　phase,　the　dual-arm　space　robot　has　captured　the　target　and　formed　a　closed-chain　hybrid　system,　considering　the　unstable　motion　which　is　caused　by　the　impact　effect　in　the　impact　phase,　a　robust　control　algorithm　is　proposed　for　the　stabilization　control,　to　achieve　the　coordinate　control　of　the　dual　arm＇s　clamp　force　to　the　target　and　space　robot　configuration　position,　and　reach　the　desired　stabilization　state.　The　simulation　verifies　the　above　control　algorithm.　©2015　Journal　of　Mechanical　Engineering