Active Debris removal using robotic manipulators onboard satellites is a promising way of
cleaning up the space junk. However, complexities and non-linearities associated with the
control of such coupled space-based systems present difficulties in their feasible
implementation. Lack of a fixed base arises serious problems in controlling the space
manipulators for precision tasks like capture of an orbiting space debris. This paper presents
systematic modelling and control approaches for Rotation floating space robots in order to …