This paper studies the collision avoidance and compliant control for free-floating space robot double arm capture satellites, and a rotating series elastic actuator(RSEA) is proposed and adopted between the manipulator and the joint motor as a compliant mechanism. Its functions are as follows: 1) the impact energy of the captured satellite on the joint of a space robot can be absorbed by the deformation of the internal spring; 2) the joint impact torque can be limited to a safe range through combining with the collision avoidance compliant control scheme. The dynamic models of the space robot and the target satellite before capture are derived by using the second Lagrange equation. Then, based on the momentum conservation relationship, the kinematic geometry relationship and Newton's third law, the integrated dynamic model of the combined system is obtained. Finally, considering the post-capture unstable combined system, a kind of RBF neural network collision avoidance compliance control scheme based on the event sampling output feedback is proposed, which can not only effectively absorb the impact energy of the captured satellite, but also turn on and off the joint motor when the impact energy is too large. The global stability of the system is proved by Lyapunov stability theory, and the effectiveness of the proposed collision avoidance compliance control scheme is verified by simulation.