Key Technical Fields and Future Outlooks of Space Manipulators: A Survey

ABSTRACT With the increasing complexity and diversity of space missions, space manipulators have become essential tools for critical space operations such as transportation, assembly, and maintenance in orbit. This paper first reviews the technological evolution of the space manipulators, emphasizing the environmental challenges and functional differences compared with ground manipulators. Then, it systematically examines four key technical domains—structural design, modeling, planning, and control—highlighting key advancements that enable adaptation to harsh space conditions and specific mission requirements. Representative ground experimental platforms are also introduced, underscoring their role in performance verification and task simulation. Finally, the paper outlines future research directions of space manipulators based on their current trends and the development of ground manipulator technologies, aiming to support continuous innovation and promote practical applications in space missions.