The　impedance　control　of　a　dual-arm　space　robot　in　orbit　auxiliary　docking　operation　is　studied.　First,　for　the　closed-chain　hybrid　system　formed　by　the　dual-arm　space　robot　after　capture　operation,　the　dynamic　equation　of　position　uncontrolled　and　attitude　controlled　is　established.　The　second-order　linear　impedance　model　and　second-order　approximate　environment　model　are　established　for　the　problem　of　simultaneous　output　force/pose　control　of　the　end　of　the　manipulator.　Then,　aiming　at　the　transient　performance　control　requirements　of　the　dual-arm　space　robot　auxiliary　docking　operation　in　orbit,　a　sliding　mode　controller　with　equivalent　replacement　of　tracking　errors　is　designed　by　introducing　Prescribed　Performance　Control　(PPC)　theory.　Next,　Radial　Basis　Function　Neural　Networks　(RBFNN)　are　used　to　accurately　compensate　for　the　modeling　uncertainties　of　the　system.　Finally,　the　stability　of　the　system　is　verified　by　Lyapunov　stability　determination.　The　simulation　results　show　that　the　attitude　control　accuracy　is　better　than　0.5　degrees,　the　position　control　accuracy　is　better　than　10-3　m,　and　the　output　force　control　accuracy　is　better　than　0.5　N　when　it　reaches　30　N.　It　also　indicated　that　the　proposed　control　algorithm　can　limit　the　transient　performance　of　the　controlled　system　within　the　preset　range　and　achieve　high-precision　force/pose　control,　which　ensures　a　more　stable　on-orbit　auxiliary　docking　operation　of　the　dual-arm　space　robot.