Saturation Operation on the Direct Current Motor That is Used for Manipulator Control
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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- Yayın Aralığı: Yılda 4 Sayı
- Başlangıç: 1988
- Yayıncı: Gazi Üniversitesi, Fen Bilimleri Enstitüsü
Sayıdaki Diğer Makaleler
Ali AJAMI, Farhad KAZEMI, Ata MOKHBERDORAN, Babak NAYERI
Halil DURAK, Yasar GENEL, Novruz BASHIROV, Genber KERIMOV
Heshmatollah HAGHİGHAT, Golam ASGARI
S.y. AKU, D.s. YAWAS, Apasi ADOKMA
Nihat GEMALMAYAN, M. TUNALIOĞLU
Behiye AKSULU, Nakış KARAMAĞARALI, Özlem SAĞIROĞLU