{
  "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.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.26267",
  "author_total": 2,
  "authors": [
    {
      "name": "Daegyun Choi"
    },
    {
      "name": "Donghoon Kim"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/2r21sh9154x5j.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.26267",
  "fulltext_url": null,
  "id": "2r21sh9154x5j",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.26267",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.RO"
    ],
    [
      "arxiv",
      "physics.space-ph"
    ],
    [
      "openalex",
      "2202|Space Satellite Systems and Control"
    ]
  ],
  "openalex": "W7214123950",
  "pdf_url": "https://arxiv.org/pdf/2609.26267",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-01",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/2r21sh9154x5j.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:23:39Z",
      "native_id": "2609.26267",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.26267"
    }
  ],
  "subjects": [
    {
      "field": "astronomy",
      "origin": "arxiv:physics.space-ph",
      "subfield": "stellar"
    }
  ],
  "title": "Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators",
  "title_text": "Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators",
  "type": "preprint",
  "updated_at": "2026-10-30T12:23:39Z",
  "url": "https://research.draconitic.com/paper/2r21sh9154x5j",
  "venue": "arXiv",
  "versions": []
}