This　paper　studies　the　collision　avoidance　and　compliant　control　for　free-floating　space　robot　double　arm　capture　satellites,　and　a　rotating　series　elastic　actuator　(RSEA)　is　proposed　and　adopted　between　the　manipulator　and　the　joint　motor　as　a　compliant　mechanism.　Its　functions　are　as　follows:　1)　the　impact　energy　of　the　captured　satellite　on　the　joint　of　a　space　robot　can　be　absorbed　by　the　deformation　of　the　internal　spring;　2)　the　joint　impact　torque　can　be　limited　to　a　safe　range　through　combining　with　the　collision　avoidance　compliant　control　scheme.　The　dynamic　models　of　the　space　robot　and　the　target　satellite　before　capture　are　derived　by　using　the　second　Lagrange　equation.　Then,　based　on　the　momentum　conservation　relationship,　the　kinematic　geometry　relationship　and　Newton＇s　third　law,　the　integrated　dynamic　model　of　the　combined　system　is　obtained.　Finally,　considering　the　post-capture　unstable　combined　system,　a　kind　of　RBF　neural　network　collision　avoidance　compliance　control　scheme　based　on　the　event　sampling　output　feedback　is　proposed,　which　can　not　only　effectively　absorb　the　impact　energy　of　the　captured　satellite,　but　also　turn　on　and　off　the　joint　motor　when　the　impact　energy　is　too　large.　The　global　stability　of　the　system　is　proved　by　Lyapunov　stability　theory,　and　the　effectiveness　of　the　proposed　collision　avoidance　compliance　control　scheme　is　verified　by　simulation.　©　2021,　Editorial　Office　of　Control　and　Decision.　All　right　reserved.