Saturation Operation on the Direct Current Motor That is Used for Manipulator Control

Nihat GEMALMAYAN; M. TUNALIOĞLU

Makale detayları

Saturation Operation on the Direct Current Motor That is Used for Manipulator Control

Yazarlar:

Nihat GEMALMAYAN | M. TUNALIOĞLU

Yayıncı:

Gazi University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Gazi University Journal of Science 2013 Vol.26 Issue 3, pp.459-465

Belge Tipi:

Makale

Yayın Tarihi:

10/2013

Belge Dili:

İngilizce

Document ID (Org No.):

2000429170

eISSN:

2147-1762

Özet:

 


In this study, the saturation operation on the motor armature current has been carried out with a manipulator control algorithm. Manipulator system is controlled by state feedback plus integral error control strategy. Controller design tool in the system is pole placement method. Linearization process was performed by means of Jacobian matrices that expresses small refractions around nominal trajectory of manipulator system. The conclusions for two degree of freedom manipulator were shown with simulations by means of a computer program that makes saturation operation.

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Makale detayları

Saturation Operation on the Direct Current Motor That is Used for Manipulator Control

Yazarlar: Nihat GEMALMAYAN | M. TUNALIOĞLU

Yayıncı: Gazi University

Ana Başlıklar: Uygulamalı fizik

Dergi: Gazi University Journal of Science 2013 Vol.26 Issue 3, pp.459-465

Belge Tipi: Makale

Yayın Tarihi: 10/2013

Belge Dili: İngilizce

Document ID (Org No.): 2000429170

eISSN: 2147-1762

Sayı

Yazarlar:

Nihat GEMALMAYAN | M. TUNALIOĞLU

Yayıncı:

Gazi University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Gazi University Journal of Science 2013 Vol.26 Issue 3, pp.459-465

Belge Tipi:

Makale

Yayın Tarihi:

10/2013

Belge Dili:

İngilizce

Document ID (Org No.):

2000429170

eISSN:

2147-1762