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

Nihat GEMALMAYAN; M. TUNALIOĞLU

Article Details

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

Authors:

Nihat GEMALMAYAN | M. TUNALIOĞLU

Publisher:

Gazi University

Main Topics:

Applied physics

Journal:

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

Document Type:

Article

Publication Date:

10/2013

Document Language:

English

Document ID (Org No.):

2000429170

eISSN:

2147-1762

Abstract:

 


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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Article Details

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

Authors: Nihat GEMALMAYAN | M. TUNALIOĞLU

Publisher: Gazi University

Main Topics: Applied physics

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

Document Type: Article

Publication Date: 10/2013

Document Language: English

Document ID (Org No.): 2000429170

eISSN: 2147-1762

Issues

Authors:

Nihat GEMALMAYAN | M. TUNALIOĞLU

Publisher:

Gazi University

Main Topics:

Applied physics

Journal:

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

Document Type:

Article

Publication Date:

10/2013

Document Language:

English

Document ID (Org No.):

2000429170

eISSN:

2147-1762