In　order　to　prevent　the　joints　from　being　damaged　by　impact　load　in　the　process　of　dual-arm　space　robot　capture　satellite　operation,　a　spring-damper　device　(SDD)　is　added　between　the　motor　and　the　manipulator.　The　device　can　not　only　absorb　and　attrition　the　impact　energy,　but　also　limit　the　impact　force　to　a　safe　range　through　reasonable　and　coordinated　design　the　compliance　strategy.　Firstly,　the　dynamic　mode　of　dual-arm　space　robot　open-loop　system　and　target　satellite　system　before　capturing　are　established　by　using　Lagrange　function　based　on　dissipation　theory　and　Newton-　Euler　function　respectively.　After　that,　combined　with　momentum　theorem,　velocity　constraints,　closed-chain　geometric　constraints　and　Newton＇s　third　law,　the　closed-chain　dynamic　model　of　hybrid　system　after　capture　is　obtained.　For　realize　buffer　and　compliance　control　of　hybrid　system,　a　reinforcement　learning　control　strategy　based　on　fuzzy　wavelet　network　is　proposed.　In　this　strategy,　the　primitive　reinforcement　signal　be　strengthened　by　adaptive　critic　element　to　obtain　the　secondary　reinforcement　signal,　and　makes　controller　has　strong　environmental　adaptability.　Finally,　the　stability　of　the　system　is　proved　by　Lyapunov　theorem,　and　the　impact　resistance　of　the　device　and　the　effectiveness　of　the　proposed　strategy　are　verified　by　numerical　simulation.　©　2022,　Editorial　Department　of　Control　Theory　&　Applications　South　China　University　of　Technology.　All　right　reserved.