Experimental Comparison of Robust H Control Techniques for Uncertain Structural Systems

J. GUIDANCE, VOL. 20, NO. 3: ENGINEERING NOTES 611 large weighting to the direction of joint movements for realizing the desired terminal conditions. Conclusion This Note proposes a method of path planning for space manipulators that reduces disturbances to the spacecraft attitude. The proposed method uses the EDM for planning the manipulator path in the joint space. The method sequentially determines the direction of small steps of joint movements that compromises the biobjectives of minimizing the disturbance to the spacecraft attitude and realizing the terminal end effector position. Numerical simulations have been made for a space robot with a two-link manipulator. The results of the simulations show the feasibility of the present path planning algorithm.