Modeling and Control Framework for Autonomous Space Manipulator Handover Operations

2025/08/25 by Quevedo, Diego, Hudson, Sarah, Kim, Donghoon
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2508.18039

Abstract

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.

Citations

• Object Handovers: a Review for Robotics

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