In this paper, an attempt has been made to develop a framework for closed-loop impact modeling of a multi-arm robotic system mounted on a servicing satellite while capturing a tumbling orbiting object. When the satellite is in broken state or does not have provision for grapple and tumbling, the interception is very difficult. In such cases, interception using multi-arm robotic system can be appealing as this will certainly increase the probability of grasp in comparison to a single-arm robot. When multiple arms of a robot will capture only one target object from different points of contact, then it is termed as closed-loop impact. In this paper, first, the dynamic models of a multi-arm robot and a tumbling orbiting object are obtained. The target dynamics has been modeled considering it to be a rigid body. Then, the three phases of the capturing operation, namely, approach, impact, and postimpact have been modeled. Efficacy of the framework is shown using a dual-arm robot mounted on a servicing satellite performing capturing operation when both arms of robot capture a single target object. The effects of relative velocity and angle of approach on the impact forces would also be investigated.