Editorial: Advancements in Vibration Control for Space Manipulators: Actuators, Algorithms, and Material Innovations

Javad Tayebi^1*Ti Chen¹Xiaofeng Wu²Anand Kumar Mishra³

• ¹Nanjing University of Aeronautics and Astronautics State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing, China
• ²The University of Sydney School of Aerospace Mechanical and Mechatronic Engineering, Sydney, Australia
• ³West Virginia University Department of Mechanical Materials and Aerospace Engineering, Morgantown, United States

Editorial on Research Topic Space manipulators play a pivotal role in modern space missions, enabling satellite servicing, debris removal, and planetary exploration. However, their lightweight, long-reach designs and dynamic operational environments introduce significant vibration challenges that can compromise mission success. Addressing these challenges requires a multidisciplinary approach, integrating advancements in actuators, control algorithms, and material science. While conventional actuators (Liu et al., 2021; Tayebi et al., 2022; Mishra et al., 2018) and attitude control strategies (Ti et al., 2019; Tayebi et al., 2025; Xie et al., 2025) remain prevalent in spacecraft design, emerging solutions leveraging soft materials and AI-driven control architectures represent a rapidly evolving frontier in vibration mitigation research. This Research Topic provides the most recent developments in vibration mitigation techniques for space manipulators, including four important studies as result of the call. These studies cover several aspects of vibration through flexible dynamics estimation via quasi-static approximation, AI-enhanced guidance and control systems, bio-inspired soft actuation, and hybrid soft-rigid grasping architectures. Accurate measurement of elastic coordinates via sensors has historically posed significant challenges in controlling flexible space manipulators. Patel and Damaren addressed this by developing a model-based estimation framework, eliminating the need for direct vibration sensing. They proposed a quasi-static estimator that approximates elastic coordinates with joint torque data, enabling precise end-effector trajectory tracking. Their simulations on single and two-link manipulators demonstrate robust performance, even with large payloads and model uncertainties. Conventional spacecraft Guidance, Navigation, and Control (GNC) systems, designed for ground-commanded operations with limited autonomy, face significant challenges in adapting to the dynamic demands of on-orbit servicing missions. Addressing this gap, Hao et al. proposed an AI-enhanced visual GNC system as an intermediate solution between conventional architectures and future fully autonomous systems. Their approach combines a deep learning-based algorithm that estimates target pose from 2D images without requiring prior knowledge of the target's dynamics, and a learning-based motion planner that generates manipulator trajectories while minimizing spacecraft attitude disturbances. The visual GNC system is exemplified through simulation of a conceptual mission, involving a micro-satellite tasked with on-orbit manipulation of a non-cooperative CubeSat. Figure 1 illustrates the design of the intelligent orbital service spacecraft and delineates the conceptual mission framework for capturing and servicing a non-cooperative target. Their work demonstrates the potential of AI to enhance autonomy in space robotics, particularly for non-cooperative target capture. FIGURE 1 Left: The design of the intelligent orbital service spacecraft. Right: The conceptual mission framework (Hao et al.). Actuators play an important role in controlling of space manipulators. Ashby et al. introduced bio-inspired soft actuators using dielectric elastomer transducers (DETs) as lightweight artificial muscles for space applications. Inspired by the starfish podia as shown in Figure 2, their inflatable DET-based actuator combines deployable structures with proprioceptive capabilities, enabling compact stowage during launch and adaptive operation in zero-gravity environments. The study highlights the advantages of soft robotics in space, where mass and volume constraints are critical. These actuators show particular promise for applications requiring adaptable, mass-efficient systems in unstructured orbital environment. FIGURE 2 Left: The basic structure of a typical starfish's podium (tube foot). Right: Close-up of a starfish on the sea floor, with podia in active motion (Ashby et al.). Dontu et al. discussed the development of a hybrid soft gripper for delicate object manipulation, validated through real-world robotics competitions. Their vacuum-actuated design integrates soft fingers with rigid components, and task-specific modules, balancing compliance and precision. By refining the gripper through successive iterations, the work demonstrates the importance of adaptable, hybrid designs for handling diverse objects in unstructured environments. These studies collectively illustrated three essential developments in space manipulator design through model-based estimation overcoming sensing limitations in orbit, AI-driven autonomy enabling real-time adaptation, and material and actuation Innovations. Looking ahead, the field must address key challenges in technology readiness levels and orbital validation, particularly for soft robotic components in space environments.