Coordinated Control of Spacecraft’s Attitude and End-Effector for Space Robots

Abstract—Thisletteraddressesthecoordinatedcontrolofthespacecraft’sattitudeandtheend-effectorposeofamanipulatorequippedspacerobot.Acontrollerisproposedtosimultaneouslyregulatethespacecraft’sattitude,theglobalcenter-of-mass,andtheend-effectorpose.Thecontrolisbasedonatriangularactuationdecomp