Gemalmayan, NihatTunalıoğlu, Mert Şafak2019-05-132019-05-132013Gemalmayan, N., & Tunalıoğlu, M. (2013). Saturation operation on the direct current motor that is used for manipulator control. Gazi University Journal of Science, 26(3), 459-465.1303-9709https://hdl.handle.net/11491/1446In 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.eninfo:eu-repo/semantics/openAccessCurrent LimitationDirect Current MotorManipulator ControlSaturation OperationArticle263459465Q2