Space exploration and exploitation depend on the development of on-orbit robotic
capabilities for tasks such as servicing of satellites, removing of orbital debris, or …

Abstract Space robotics is considered one of the most promising approaches for on-orbit
servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading …

Cartesian trajectory planning of a free-floating space robot is impacted by dynamic
singularities due to the inverse kinematics equations. Although various methods have been …

The existence of the path dependent dynamic singularities limits the volume of available
workspace of free-floating space robot and induces enormous joint velocities when such …

Abstract Space manipulator systems are designed to have lightweight structure and long
arms in order to achieve reduction of fuel consumption and large reachable workspaces …

Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or
assembly functions, but active debris removal has become a more urgent application. We …

This paper addresses the trajectory-planning problem for a free-floating space-robotic
system for which there are no actuations on the base spacecraft. The mission considered is …

This work proposes a model reference adaptive state-dependent Riccati equation (SDRE)
controller for nonlinear time-invariant systems considering uncertainty in the plant. The …

Free-floating manipulators are subject to dynamic singularities that complicate their
Cartesian motions and restrict their workspace. In this work, the Cartesian trajectory …

Space-mounted robotics is becoming increasingly mainstream for many space missions.
The aim of this article is threefold: first, to give a broad and quick overview of the importance …