Free-Floating Space Robot Arm: Reaction-Coupled Control Simulator

A robot arm bolted to the floor on Earth has an immovable base to push against. A robot arm mounted on a free-floating spacecraft does not — every joint motion makes the whole bus rotate slightly the other way, by conservation of angular momentum. This simulator commands a 3-joint arm toward a draggable grapple target and lets you toggle between a naive controller that plans as if the base were fixed (and consequently misses, because the base really does move under it) and a momentum-aware controller that predicts and cancels the same reaction in its own control law, landing on target every time.