Saturation operation on the direct current motor that is used for manipulator control
Yükleniyor...
Tarih
2013
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/openAccess
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.
Açıklama
Anahtar Kelimeler
Current Limitation, Direct Current Motor, Manipulator Control, Saturation Operation
Kaynak
Gazi University Journal of Science
WoS Q Değeri
Scopus Q Değeri
Q2
Cilt
26
Sayı
3
Künye
Gemalmayan, N., & Tunalıoğlu, M. (2013). Saturation operation on the direct current motor that is used for manipulator control. Gazi University Journal of Science, 26(3), 459-465.
