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Control moment gyroscopes (CMGs) are utilized on spacecraft to control torsional movements. This chapter displays how a singularity map of a non-redundant single gimbal CMG array is created, analyzes the maximum singularity free momentums versus skew angle for three symmetric skew angles, and then analyzes for mixed skew angles. The objective of this paper is to demonstrate mixed skew angle values that produce large singularity free regions.

Mixed Skew Angle Singularity Plotting for Non-Redundant Single Gimbal CMG Array