This looks great! And I agree that it could be a nice alternative to the Spacecraft3 RMS, but....
Could you do a smaller version, with arm sections only 1 to 2 meters long? This would be handy for use on smaller, unmanned satellites - picking up Martian rock samples for return to Earth, or a teleoperator satellite grabbing "dead" satellites and returning them to a shuttle, or as part of a Manned Manuevering Unit to give an astronaut an extra arm (or arms).
The ultimate would be a single arm that could be "scaled" with a scenario parameter.
Being a c++ illiterate makes it easy for me to imagine this stuff