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We proposed the strategy and control system of an autonomous satellite retrieval/release mission of a free-flying space robot with an attitude-controlled base. This mission consists of tasks of retrieving a moving payload, equipping parts with the payload, and releasing it on an orbit again. Our control system consists of position/attitude control of both a spacecraft and manipulators, reaction torque compensation for a spacecraft, and impedance control of a space manipulator. The effectiveness of this system was shown by the simulation experiment of performing this mission with a two dimensional operation testbed of a space robot equipped with thrusters and a control moment gyro. The complete mission was implemented successfully. more...