{"ID":2878583,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.18039","arxiv_id":"2508.18039","title":"Modeling and Control Framework for Autonomous Space Manipulator Handover Operations","abstract":"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.","short_abstract":"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 manipulat...","url_abs":"https://arxiv.org/abs/2508.18039","url_pdf":"https://arxiv.org/pdf/2508.18039v1","authors":"[\"Diego Quevedo\",\"Sarah Hudson\",\"Donghoon Kim\"]","published":"2025-08-25T13:56:36Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}