Date of Award


Degree Name

Master of Science in Engineering


Mechanical and Aerospace Engineering

First Advisor

Jennifer Hudson, Ph.D.

Second Advisor

Kapseong Ro, Ph.D.

Third Advisor

Stephen Kwok-Choon, Ph.D.


Control, dynamics, kinematics, maneuver, robotics, spacecraft

Access Setting

Masters Thesis-Open Access


Robotic on-orbit servicing is a developing technology that seeks to increase the longevity and repairability of faulty or aging resident space objects. In this research, the development of a flexible continuum manipulator for a small satellite system that performs low-complexity on-orbit servicing or debris removal is presented. Derivations of manipulator kinematics are described in detail, a non-linear control scheme has been developed, and the accuracy and servicing applications for the prototype are evaluated and discussed. The manipulator has been tested on an air-bearing dynamics simulator, and the results are extensively analyzed. System recommendations and future work suggestions are presented.