A desirable microgravity environment for experimental science payloads may require an active vibration isolation control system. A vibration isolation system named g-LIMIT (GLovebox Integrated Microgravity Isolation Technology) is being developed by NASA Marshall Space Flight Center to support microgravity science experiments using the microgravity science glovebox. In this technical memorandum, the full six-degree-of-freedom nonlinear equations of motion for g-LIMIT are derived. Although the motivation for this model development is control design and analysis of g-LIMIT, the equations are derived for a general configuration and may be used for other isolation systems as well.Kim, Y. K. and Whorton, M. S.Marshall Space Flight CenterEQUATIONS OF MOTION; MICROGRAVITY; VIBRATION ISOLATORS; MATHEMATICAL MODELS; ACTIVE CONTROL; DEGREES OF FREEDOM; NONLINEAR EQUATIONS; DESIGN ANALYSIS; CONTROL THEORY...