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.
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BibTeX
@misc{choi2026multiaxis,
title = {{Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators}},
author = {Daegyun Choi and Donghoon Kim},
howpublished = {arXiv},
year = {2026},
month = sep,
doi = {10.48550/arxiv.2609.26267},
eprint = {2609.26267},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2609.26267},
}
RIS
TY - UNPB
TI - Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators
AU - Daegyun Choi
AU - Donghoon Kim
PY - 2026
DA - 2026/09/01
PB - arXiv
DO - 10.48550/arxiv.2609.26267
UR - https://arxiv.org/abs/2609.26267
AB - 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.
ER -