Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators

Abstract:Free-floating space manipulator systems face operational challenges due to dynamic coupling. While traditional reactionless manipulation eliminates base disturbances, enforcing the null-space projections across all rotational axes imposes excessive constraints on the system and drastically reduces the available workspace. To address this limitation, this work proposes a multi-axis selective decoupling framework that nullifies momentum transfer exclusively along mission-critical directions. By leveraging a directionally constrained sub-coupling matrix, the framework relaxes the null-space constraints. Numerical simulations confirm that this approach mathematically eliminates constrained directional disturbances along the targeted axes while preserving the remaining degrees of freedom, enabling the manipulator to execute task-space operations successfully.

Robotics (cs.RO); Space Physics (physics.space-ph)

arXiv:2609.26267 [cs.RO]

(or arXiv:2609.26267v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.26267 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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