It　has　become　an　inevitable　trend　to　use　space　manipulator　for　orbit　assembly,　maintenance　and　fuel　filling,　and　the　insertion　and　extraction　is　the　basis　to　achieve　the　above　tasks.　The　impedance　control　problems　for　space　manipulator　orbit　insertion　and　extraction　are　discussed.　Firstly,　the　dynamic　equation　of　system　is　derived　when　the　pose　of　the　carrier　are　not　controlled,　and　the　impedance　control　model　is　established　based　on　the　dynamic　relationship　between　the　pose,　the　driving　force,　and　the　impedance　control　principle.　Then,　aiming　at　the　uncertainty　of　dynamics　and　the　external　disturbance,　based　on　the　event　triggered　mechanism,　an　event　triggering　sliding　mode　impedance　control　strategy　is　designed　to　control　the　space　manipulator.　The　stability　of　the　control　system　is　proved　through　Lyapunov　theory.　The　mechanism　of　the　control　strategy　is:　when　the　system　is　stable,　the　control　input　is　not　updated;　when　the　system　tends　to　be　unstable,　the　control　input　is　updated.　For　the　control　law　does　not　need　to　be　updated　at　all　times,　the　amount　of　data　transmitted　and　calculated　in　the　system　is　less,　it　is　more　suitable　for　the　limited　computing　and　storage　capacity　of　the　space　station　computer.　The　numerical　simulation　verifies　the　effectiveness　of　the　control　strategy.　©　2022　Journal　of　Mechanical　Engineering.