Open access
Sep 2026
Redundant-Motion Coordination and Base Disturbance Suppression of a 6R1P Free-Floating Space Manipulator Based on Deep Reinforcement Learning
Free-floating space manipulators are strongly coupled systems in which manipulator motion affects spacecraft base motion through momentum exchange, making simultaneous end-effector control and disturbance suppression challenging. This work investigates how an additional actuated prismatic degree of freedom influences w...
Jian Zhao, Tong-Tong Li, Ze-Lin Yang et al.
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