Modeling and Control Framework for Autonomous Space Manipulator Handover Operations

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. INTRODUCTION The global space industry has grown significantly over the past decade and is expected to continue expanding. In-space Servicing, Assembly, and Manufacturing (ISAM) is emerging as a transfor-mative approach to space operations.