A robot arm? But that assumes you can grasp the object. An asteroid or wreck might disintegrate.
Better multiple ones, so you can hold it at multiple places, making the risk of damaging the object smaller. And if everything else fails, it might still be better to hover as some distance to the object and get just the tip of the arm close, rather then hovering close to the object, or have constantly people and equipment cross a large distance between the ship and the object, with all the dangers of maneuvering, both for the crew and the object.
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