Feedback control of space robot attitude by cyclic arm motion

A method of controlling the attitude of a space robot using its arm motion is considered. The proposed method can make a large attitude change by the cyclic motion of the arm. First the arm path is planned based on the small attitude change when the arm moves along a closed path. Then the path is modified by feeding back the attitude error during the arm motion. Numerical simulations have been executed to verify the feedback law using a space robot model with an arm with six degrees of freedom.