Abstract: Force/positionhybridcompliantcontrollawwasproposedtoweakentheeffectonspacemanipulatorwhenanactivedevicewasinvolvedinacollisionwithapassivedevice.Firstly，usingthesecondkindofLagrangeequations，thefloatingbasespacemanipulatorkinematicsanddynamicsmodelwereconstructedconsideringthecontactenvironment.Secondly，apole-conetyperefuelingdevicewasgiven.Accordingtothecontactcharacteristicsoftheactiveandpassivedevice，apoint-surfacecontactcollisiondynamicsmodelwasestablished，andthecorrespondingcollisionforcecalculationmethodwasgiven.Then，refuelingdockingproblemwasformulatedforspacecraft-referencedendpointmotioncontrolproblem.Onthisbasis，thedesiredmanipulatorend-pointtrajectorywasplannedandthepositionloopcontrollawwasproposed.Thecollisionforcewasobtainedaccordingtothepositionbetweentherefuelingactiveandpassivedevices，andtheforce/torqueloopcontrollawwasproposed.Furthermore，combinedwithadaptationselectionmatrix，theforce/positionhybridcontrollerwasobtainedtoreducethecollisionimpactonspacerobot.Finally，simulationresultsshowthatthedockingdirectionpositionerrorreducestozerofromtheinitialvalue，andthecollisionforceislessthan10Nduringdocking，andjointtorquedoesnotexceed13Nm.Theactiveandpassivedevicescompletecompliantcontractbythedesignedforce/positionhybridcontroller.

Key words: On-orbitrefueling, Pole-conemodel, Impactmode, Contactforce；Hybridforce/positioncontrol；Spacerobot