Doctoral Research · Space Robotics Inspection with a Free-Flying Space Manipulator
A Doctoral Research Journal Aerospace Engineering

Best Start — Papers cited in research_report_1.md and deep_research_Jun08.md

Scope: every distinct work cited in either research file, de-duplicated. Focus of the upcoming deep-research project: singularities & reaction null space (Table A), with supporting lineage in Table B.

Have? column — confirmed against actual files on disk (verified Jun 9): - YES = we have it as PDF and/or Markdown. - No = not found on disk.

MD? = do we have a Markdown conversion yet (Yes/No). File = the PDF (or MD) on disk.

Src: [R] = research_report_1.md · [D] = deep_research_Jun08.md. Author/year/title are taken verbatim from those files; n.d. = no year given there. Nothing invented.

Table A — Singularities · Reaction Null Space · Jacobians · Manipulability ⟵ focus

Have? MD? Authors Year Title File Src
YES No Das, Choi & Kim 2025 Utilizing Dynamic Coupling in Free-Flying Space Manipulators 1_FFSM…/dynamic_coupling_ffsm_oos_2025.pdf [D]
YES No Calzolari et al. 2020 Singularity maps for free-flying space robots 1_FFSM…/singularity_maps_space_robots_2020.pdf [D]
YES Yes Yoshida et al. (Yoshida group) 2016 Reactionless camera inspection with a free-flying space robot under reaction null-space motion control reactionlesscamera…/…md (MD only — no PDF in corpus) [D]
No No Nenchev, Yoshida, Vichitkulsawat & Uchiyama 1999 Reaction Null-Space Control of Flexible Structure Mounted Manipulator Systems — [R][d]
No No Chiaverini, Siciliano & Egeland 1994 Review of the Damped Least-Squares Inverse Kinematics with Experiments on an Industrial Robot Manipulator — [R]
YES No Papadopoulos & Dubowsky 1993 Dynamic Singularities in Free-Floating Space Manipulators 1_FFSM…/dyn_singularities_ffsm_1993.pdf [R][d]
No No Vafa & Dubowsky 1990 The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach — [R][d]
YES No Umetani & Yoshida 1989 Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix 1_FFSM…/gjm_resolved_rate_1989.pdf [R][d]
No No Nakamura & Hanafusa 1986 Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control — [R]
No No Wampler 1986 Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods — [R]
No No Yoshikawa 1985 Manipulability of Robotic Mechanisms — [R]
No No Yoshikawa 1985 Dynamic Manipulability of Robot Arms — [R]
No No Nenchev n.d. Reaction Null Space of a Multibody System with Applications in Robotics (review) — [D]
No No Torres & Dubowsky n.d. Enhanced Disturbance Map (NASA NTRS) — [D]

Table B — Supporting lineage (coordinated control, kinematics, OOS, control theory, NBV/coverage, mode management)

Have? MD? Authors Year Title File Src
No No (author not given) 2023 Orbital Manipulator with Reaction Wheels for On-Orbit Servicing (IFAC) — [D]
No No Seddaoui, Saaj & Nair 2021 Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial — [D]
No No Papadopoulos, Aghili, Ma & Lampariello 2021 Robotic Manipulation and Capture in Space: A Survey — [R][d]
No No Malladi, Sanfelice, Butcher et al. 2021 Robust hybrid supervisory control for spacecraft close proximity missions — [R]
YES No Giordano, Dietrich, Ott & Albu-Schäffer 2020 Coordination of thrusters, reaction wheels, and arm in orbital robots 1_FFSM…/coord_thrust_rw_arm_2020.pdf [R][d]
YES No Giordano, Ott & Albu-Schäffer 2019 Coordinated Control of Spacecraft’s Attitude and End-Effector for Space Robots 1_FFSM…/coord_ctrl_attitude_ee_2019.pdf [R][d]
No No Franklin, Powell & Emami-Naeini 2019 Feedback Control of Dynamic Systems (textbook) — [R]
No No Pedrotty et al. 2019 Seeker Free-Flying Inspector GNC System Overview — [R]
YES No Wilde, Kwok Choon, Grompone & Romano 2018 Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer’s Tutorial 1_FFSM…/eom_freefloat_spacecraft_2018.pdf [D]
No No Zucchini, Malladi, Sanfelice & Butcher 2018 Robust Hybrid Supervisory Control for a 3-DOF Spacecraft in Close-Proximity Operations — [R]
No No Flores-Abad, Ma, Pham & Ulrich 2014 A Review of Space Robotics Technologies for On-Orbit Servicing — [R]
YES No Galceran & Carreras 2013 A Survey on Coverage Path Planning for Robotics 4_Inspection…/survey_coverage_pathplan_2013.pdf [R]
YES No Siciliano, Sciavicco, Villani & Oriolo 2009 Robotics: Modelling, Planning and Control (textbook) __Books/Robotics/SicillianoRoboticsModellingPlanning.pdf [R]
YES No Spong, Hutchinson & Vidyasagar 2006 Robot Modeling and Control (textbook) __Books/Robotics/SpongRobotModelingControl.pdf [R]
No No Naasz 2005 Safety Ellipse Motion with Coarse Sun Angle Optimization — [R]
No No Yoshida 2003 Engineering Test Satellite VII Flight Experiments for Space Robot Dynamics and Control — [R]
No No Fehse 2003 Automated Rendezvous and Docking of Spacecraft (textbook) — [R]
No No Scott, Roth & Rivest 2003 View Planning for Automated Three-Dimensional Object Reconstruction and Inspection — [R]
No No Dubowsky & Papadopoulos 1993 The Kinematics, Dynamics, and Control of Free-Flying and Free-Floating Space Robotic Systems — [R]
No No Connolly 1985 The Determination of Next Best Views — [R]
No No Whitney 1969 Resolved Motion Rate Control of Manipulators and Human Prostheses — [R]
No No Clohessy & Wiltshire 1960 Terminal Guidance System for Satellite Rendezvous — [R]
No No Giordano n.d. PhD thesis (TUM) — whole-body task-priority control — [D]
No No (author not given) n.d. Minimum Base Disturbance Control of Free-Floating Space Robot during Visual Servoing (Robotica) — [D]
No No (author not given) n.d. Coordinated Manipulator/Spacecraft Control with Systematic Gain Tuning (AIAA JGCD) — [D]

Summary (verified on disk, Jun 9)

Caveats