Author

Ming Xu

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Conference Sep 2026

Trajectory planning of free-floating space manipulator based on reinforcement learning and smooth parameterization

Space manipulators provide an important means for performing in-orbit servicing tasks, but their motion planning becomes challenging when the spacecraft base is free-floating. In this case, joint motion not only drives the end-effector but also induces base motion, so the end-effector response cannot be obtained from c...

Jun-Feng Yuan, Xiao-Yi Wang, Xue Bai et al. · International Conference on... · 0 citations

Robust Approach and Synchronization Control of Dual-Arm Space Robots with Noncooperative Tumbling Satellites Using Adaptive Sliding Mode Control

This paper presents an adaptive sliding mode control (ASMC) strategy for the precise and safe operation of a dual-arm free-floating space robot (FFSR) during approach and synchronization with a noncooperative object, such as a 3D tumbling defunct satellite. Unlike conventional sliding mode control (SMC), the proposed...

Xin-Yi Li, Xiao-Yi Wang, Yuan Chai et al. · Journal of Aerospace Enginee... · 0 citations

Conference Aug 2026

Obstacle Avoidance of Dual-Arm Space Robots via Nonlinear Model Predictive Control and Velocity Dampers

Compared with a single-arm configuration, a dualarm space robot can share grasping loads, improve capture stability, and provide mutual backup during non-cooperative target operations. This paper addresses the coordinated pre-capture of a spinning non-cooperative target by a dual-arm free-flying space robot considering...

Bo-Rui Song, Xiao-Yi Wang, Ming Xu · 2026 3rd International Confe... · 0 citations