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

被引：0
|
作者：
Gemalmayan, Nihat [1 ]
Tunalioglu, M. Safak [2 ]
机构：
[1] Gazi Univ, Fac Engn, Dept Mech Engn, Ankara, Turkey
[2] Hitit Univ, Fac Engn, Dept Mech Engn, Corum, Turkey
来源：
GAZI UNIVERSITY JOURNAL OF SCIENCE | 2013年 / 26卷 / 03期
关键词：
Manipulator control; direct current motor; saturation operation; current limitation;
D O I：
暂无
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
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.
引用
收藏
页码：459 / 465
页数：7
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