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Author

Erik A. Chumacero-Polanco

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Preprint Oct 2026

Modeling and Analysis of Dynamic Coupling Effects in a Free-Floating Space Manipulator

Motion of a robotic manipulator mounted on a free-floating spacecraft induces base translation and rotation, creating a dynamic coupling that affects end-effector motion. This paper characterizes that coupling in a planar three-link space manipulator. Using momentum conservation, velocity mappings are developed between...

Erik A. Chumacero-Polanco · 0 citations

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