In　order　to　achieve　fast　and　high　precision　force/pose　control　of　on-orbit　mission,　the　impedance　control　problem　of　dual-arm　space　robot　auxiliary　docking　operation　in　orbit　is　studied.　Firstly,　by　using　the　Lagrange　method　the　dynamics　equation　of　the　closed　chain　hybrid　system　formed　after　the　capture　operation　of　the　dual-arm　space　robot　is　established.　And　based　on　impedance　control　theory,　a　second-order　linear　impedance　model　and　a　second-order　approximate　environment　model　are　established.　Then,　a　supertwist　sliding　mode　control　algorithm　based　on　the　social　spider　optimization(SSO)　algorithm　is　proposed.　Finally,　the　Lyapunov　stability　determination　verifies　that　the　system　is　uniformly　asymptotically　stable.　The　simulation　results　show　that　the　proposed　control　algorithm　can　simultaneously　achieve　high-precision　force/pose　control.　The　attitude　control　accuracy　reaches　0.05　degrees,　the　position　control　accuracy　reaches　0.001m,　and　the　output　force　control　accuracy　reaches　0.5N.　It　can　meet　the　task　requirements　of　the　auxiliary　docking　operation　of　the　dual-arm　space　robot　in　orbit.