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This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.<\/jats:p>","DOI":"10.1017\/s0263574707003438","type":"journal-article","created":{"date-parts":[[2007,3,6]],"date-time":"2007-03-06T08:20:08Z","timestamp":1173169208000},"page":"537-547","source":"Crossref","is-referenced-by-count":161,"title":["Free-flying robots in space: an overview of dynamics modeling, planning and control"],"prefix":"10.1017","volume":"25","author":[{"given":"S. Ali A.","family":"Moosavian","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Evangelos","family":"Papadopoulos","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2007,9,1]]},"reference":[{"key":"S0263574707003438_ref119","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002143"},{"key":"S0263574707003438_ref115","doi-asserted-by":"crossref","unstructured":"115. Carignan C. R. , Lane J. C. and Churchill P. 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