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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2508.18039 |
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| _version_ | 1866915462063849472 |
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| author | Quevedo, Diego Hudson, Sarah Kim, Donghoon |
| author_facet | Quevedo, Diego Hudson, Sarah Kim, Donghoon |
| contents | Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of mission-critical objects. This work presents a dynamic model of a dual-arm space manipulator system and compares various tracking control laws. The key contributions of this work are the development of a cooperative manipulator dynamic model and the comparative analysis of control laws to support autonomous R2R handovers in ISAM scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_18039 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Modeling and Control Framework for Autonomous Space Manipulator Handover Operations Quevedo, Diego Hudson, Sarah Kim, Donghoon Robotics Systems and Control Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of mission-critical objects. This work presents a dynamic model of a dual-arm space manipulator system and compares various tracking control laws. The key contributions of this work are the development of a cooperative manipulator dynamic model and the comparative analysis of control laws to support autonomous R2R handovers in ISAM scenarios. |
| title | Modeling and Control Framework for Autonomous Space Manipulator Handover Operations |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2508.18039 |