Space　truss　is　a　kind　of　important　infrastructure　of　space　station,　which　plays　an　irreplaceable　role　in　the　construction　of　space　station.　Considering　the　space　occupied　by　the　assembled　space　truss　and　the　carrying　capacity　of　the　rocket,　it　is　generally　adopted　to　launch　the　truss　components　into　space　and　complete　the　assembly　in　orbit.　In　order　to　carry　out　space　missions　such　as　assembly　and　maintenance　of　space　truss,　the　force　posture　impedance　control　of　space　robot　in　orbit　insertion　and　extraction　operation　is　studied.　Using　the　kinematic　constraints　of　the　replaced　plug,　the　kinematic　relationship　of　the　plug　in　the　carrier　coordinate　system　is　established.　Based　on　the　principle　of　impedance　control,　a　second-order　linear　impedance　model　is　established　according　to　the　dynamic　relationship　between　the　plug　posture　and　its　output　force,　to　realize　the　accurate　control　of　the　output　force　during　the　insertion　and　extraction　operation.　An　adaptive　fuzzy　composite　nonlinear　feedback　(CNF)　control　strategy　is　proposed.　To　reduce　the　influence　of　uncertain　parameters　and　improve　the　control　accuracy　of　posture,　the　uncertain　parameters　are　fitted　by　the　fuzzy　controller　as　the　compensation　torque　of　the　CNF　controller.　The　convergence　of　the　system　is　proved　by　Lyapunov　principle,　and　the　effectiveness　of　the　controllable　strategy　is　verified　by　simulation　analysis.　©　2024　Chinese　Academy　of　Mechanics.　All　rights　reserved.