When a robot arm is mounted on a satellite to perform some tasks. the
satellite's attitude must be stabilized to retain the communication li
nk and to generate electrical power from solar panels. It is not reali
stic to control the total system as one dynamic system: since the numb
er of degrees of freedom becomes too large to be handled by state-of-t
he-art satellite-mounted computers. This paper proposes a coordinated
control between the satellite's attitude control system and the robot
arm control system. The robot arm control system estimates the angular
momentum of the planned robot arm's motion. The satellite's attitude
control sz stem will compensate for the reaction by using feed-foward
control The robot arm controller also manages the motion plan of the r
obot arm in order not to disturb the satellite's attitude stability.