The impact issues during dual-arm or multi-arm space manipulator capturing object was studied by extending the concept of "Generalized Straight-Arm Capture(GSAC)" to a dual-arm system. The configuration satisfied "GSAC" can reduce the effect of impact force, and guarantee the stability of system, then avoids the limit of joint velocity when control the compound. Finally, one unique strategy of capturing object was proposed, which accomplishes the capture and controls the attitude of base effectively.
