Space debris mitigation is a pivotal endeavor essential for sustaining human space exploration. To address the challenges posed by irregularly shaped, variably sized, and dynamically unpredictable debris in orbit, this paper proposes a mechanical design and motion control strategy for an omniwheel-based driving system. The mechanical architecture and kinematic principles of the system are elaborated in detail, complemented by the formulation of tailored motion control algorithms. First, the fundamental architecture of the driving subsystem is introduced, and the linear mapping between the uniformly distributed triad of omniwheels and the spherical drive is derived. Building upon this foundation, the kinematic transmission from the three evenly spaced driving subsystems to the contact sphere is established. This leads to the derivation of the overall linear mapping relationship between the nine uniformly distributed omniwheels and the contact sphere’s motion, thereby enabling precise trajectory tracking of the contact sphere via omniwheel actuation. Finally, comprehensive experimental validation was conducted in two phases. The first phase evaluated the fidelity and stability of the driving subsystem’s simulation model, as well as the accuracy of the kinematic mapping. Results demonstrate that the simulation model is highly stable and reliable. Under identical desired trajectories, the Root Mean Square Error (RMSE) between theoretical calculations and simulations was 4.082 × 10⁻⁴, while the RMSE between theory and physical prototypes was 0.0032. These results confirm that the motion errors remain within acceptable tolerances and the kinematic mapping is accurate. For the spherical end-effector, under the same trajectory conditions, the RMSE values among theoretical calculations, simulations, and physical prototypes were 0.0929 and 1.62, respectively. These findings validate the derived linear kinematic mapping, demonstrating its efficacy in precise motion control, which lays the foundation for future on-orbit detumbling tasks.

Free-floating space manipulators are strongly coupled systems in which manipulator motion affects spacecraft base motion through momentum exchange, making simultaneous end-effector control and disturbance suppression challenging. This work investigates how an additional actuated prismatic degree of freedom influences whole-arm coordination in a 6R1P free-floating space manipulator. Compared with a fixed-length 6R configuration, the prismatic joint enlarges the feasible motion space and introduces an additional motion-allocation direction for full-pose tasks under generalized-Jacobian constraints. A proximal policy optimization (PPO)-based controller is developed for full-pose reaching with spacecraft-motion-aware objectives. Simulation results show that the 6R1P configuration improves reaching performance and reduces spacecraft reaction compared with the locked-prismatic 6R baseline. Trajectory-level dynamic reconstruction further reveals that the disturbance reduction is not caused by direct cancellation from the prismatic joint itself, but mainly by configuration-dependent redistribution of revolute-joint motions and enhanced mutual cancellation among their reaction contributions. These results demonstrate that telescopic redundancy provides a mechanism for coordinated motion allocation in free-floating manipulation, enabling learned policies to exploit additional degrees of freedom for improved task execution and reduced spacecraft disturbance.