The　vibration　suppression　impedance　control　problem　of　space　truss　of　space　robot　assembly　in　orbit　is　studied.　Firstly,　a　system　dynamics　model　of　a　single-arm　space　robot　is　established　using　Lagrange＇s　method　in　terms　of　carrier　attitude　control.　Through　dynamic　analysis,　the　Jacobian　relation　between　the　manipulator　end-effector　and　the　truss　plug　within　the　base　coordinate　system　is　derived.　Based　on　impedance　control　principles,　a　second-order　linear　impedance　model　is　established　by　considering　the　dynamic　relationship　between　plug　pose　and　output　force.　Next,　a　nominal　PD　(Proportional　Derivative)　controller　is　designed　and　a　sliding-mode　variable-structure　controller　is　introduced　to　accurately　compensate　for　the　modeling　uncertainties,　thereby　improving　the　force/position　control　accuracy.　Taking　into　account　of　the　inherent　buffeting　associated　with　the　sliding-mode　controllers　as　well　as　the　fuzzy　control　principles,　a　control　scheme　utilizing　the　sliding　mode　surface　as　input　and　the　compensation　control　gain　as　output　is　adopted　to　achieve　the　vibration　suppression　effects.　This　control　strategy　does　not　rely　on　differential　signals　from　sliding-mode　surfaces.　Also,　it　requires　less　computation　cost　while　maintaining　strong　robustness　without　complex　fuzzy　expert　rule　database.　In　addition,　it　has　been　proven　through　Lyapunov　principle　that　this　system　exhibits　uniform　asymptotic　stability.　Finally,　the　effectiveness　and　suppression　performance　of　the　proposed　control　strategy　are　verified　based　on　the　analysis　results　of　Matlab　simulations.　©　2024,　Editorial　Office　of　Chinese　Quarterly　of　Mechanic.　All　rights　reserved.