This paper presents the eigen equation of inertialtensor expressed by the three principal invariants, which is an algebra-equation solution to calculate eigen value;
本交给出了惯量张量用其三个主要不变量表示的特征方程，为求特征值提供了一种代数方程解法；
2
Variations on which attitude of spacecraft dependents are time, law of motion of manipulators, liquid mass, liquid inertialtensor and damping coefficient besides paths of motion of manipulators.