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- Title
Saturation Operation on the Direct Current Motor That is Used for Manipulator Control.
- Authors
GEMALMAYAN, Nihat; TUNALIOĞLU, M. Şafak
- 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.
- Subjects
SATURATION (Chemistry); DIRECT currents; ARMATURES; ERROR functions; ELECTRONIC linearization; JACOBIAN matrices; COMPUTER algorithms
- Publication
Gazi University Journal of Science, 2013, Vol 26, Issue 3, p459
- ISSN
1303-9709
- Publication type
Article