## 1 Introduction
Recently, the dynamics and control of space robots capturing a spacecraft have become the focus of aerospace technicians, and some research results have emerged. It is worth mentioning that the studies mainly focus on pre-capture motion planning and post-capture attitude control. For the motion planning and trajectory tracking control of space robots, [PERSON] et al. [14] investigated the finite-time control problem associated with attitude stabilization of a rigid spacecraft subject to external disturbances, actuator faults, and input saturation, and proposed an adaptive fixed-time-based finite-time attitude controller designed to guarantee finite-time reachability of the attitude orientation in a small neighborhood of the equilibrium point. [PERSON] et al. [15] studied the effect of payload collisions on the dynamics and control of a flexible dual-arm space robot capturing an object, proposed a method for the determination of initial conditions for post-impact dynamic simulation of the system and proposed a PD controller to maintain stabilization of the robot system after the capture of the object. [PERSON] et al. [16] presented an adaptive control method that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. [PERSON] and [PERSON] [17] studied an indirect Legendre pseudospectral method for attitude motion tracking control of an asymmetric underactuated rigid spacecraft equipped with only two pairs of jet thrusters. [PERSON] [18] proposed a novel optimization whiplash compensation method to realize automatic control of flexible space robotics. [PERSON] [19] focused on the issue of maintaining a stable first contact between the arms end-effectors and a target satellite before the grasp is performed, investigates the application of the Impedance + PD control approach to a two-arm space manipulator used to capture a non-cooperative target. [PERSON] and [PERSON] [20] presented the notion that the planning task does not need to solve the inverse kinematics, investigating a novel motion planning algorithm based on rapidly-exploring random trees (RRTs) for an free-floating space robots from an initial configuration to a goal end-effector pose. [PERSON] [21] aimed at locally minimizing the dynamic disturbances transferred to the spacecraft during trajectory tracking maneuvers, based on a constrained least-squares approach, proposed a novel solution for the inverse kinematics of redundant space manipulators. [PERSON] et al. [22] based on the continuous finite-time control technique, studied the attitude stabilization of spacecraft, a finite-time attitude tracking control law has been designed for a single spacecraft and a distributed finite-time attitude synchronization algorithm has also been developed for a group spacecraft. [PERSON] [23] presented a combined prediction and motion-planning scheme for robotic capturing of a drifting and tumbling object with unknown dynamics using visual feedback, and used the estimated states, parameters, and predicted motion trajectories to plan the trajectory of the robot's end-effector to intercept a grapple fixture on the object with zero relative velocity in an optimal way. In order to realize the attitude stabilization and joint tracking control of the space robot with flexible links and elastic base, [PERSON] [24] proposed a terminal sliding mode controller based on desired trajectory to control the free-flying space manipulator when parametric uncertainties and modeling errors exist. For the post-capture attitude stable control of space robots, [PERSON] [25] studied the attitude management of space robots after capturing a satellite, the control of the auxiliary docking operation and presented an adaptive control scheme based on extreme learning machine to achieve the coordinated control of the target. [PERSON] et al.