Ze-Lin Yang

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...