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.
@article{arxiv.2508.18039,
title = {Modeling and Control Framework for Autonomous Space Manipulator Handover Operations},
author = {Diego Quevedo and Sarah Hudson and Donghoon Kim},
journal= {arXiv preprint arXiv:2508.18039},
year = {2025}
}
Comments
14 pages, submitted to 2025 Astrodynamics Specialists Conference proceedings