A method and system for reducing the stepping disturbances generated by a stepping
mechanism is disclosed. The method is to select a desired stepping rate to step
the stepping mechanism. The method further selects two desired disturbance stepping
rates, one fast stepping rate and one slow stepping rate to alternate stepping
of the mechanism with the two stepping rates to generate an average stepping rate
that is required for the mechanism, and thereby the stepping mechanism will not
significantly excite the spacecraft structural mode, and the stepping disturbance
is significantly reduced while the mechanism still perform nominally its desired
stepping maneuvers.
