Saturation operation on the direct current motor that is used for manipulator control

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dc.authorid0000-0003-0992-9003
dc.contributor.authorGemalmayan, Nihat
dc.contributor.authorTunalıoğlu, Mert Şafak
dc.date.accessioned2019-05-13T09:03:18Z
dc.date.available2019-05-13T09:03:18Z
dc.date.issued2013
dc.departmentHitit Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü
dc.description.abstractIn 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.
dc.identifier.citationGemalmayan, 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.
dc.identifier.endpage465en_US
dc.identifier.issn1303-9709
dc.identifier.issue3en_US
dc.identifier.scopusqualityQ2
dc.identifier.startpage459en_US
dc.identifier.urihttps://hdl.handle.net/11491/1446
dc.identifier.volume26en_US
dc.indekslendigikaynakScopus
dc.language.isoen
dc.relation.ispartofGazi University Journal of Science
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectCurrent Limitationen_US
dc.subjectDirect Current Motoren_US
dc.subjectManipulator Controlen_US
dc.subjectSaturation Operationen_US
dc.titleSaturation operation on the direct current motor that is used for manipulator control
dc.typeArticle

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