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Year 2013, Volume: 26 Issue: 3, 459 - 465, 02.10.2013

Abstract

References

  • Chen, Y.H., Pandey, S., ‘‘Robust Hybrid Control of Robot Conference, 1:236-241, (1989). IEEE International
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Saturation Operation on the Direct Current Motor That is Used for Manipulator Control

Year 2013, Volume: 26 Issue: 3, 459 - 465, 02.10.2013

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.

References

  • Chen, Y.H., Pandey, S., ‘‘Robust Hybrid Control of Robot Conference, 1:236-241, (1989). IEEE International
  • Nemec, B., Matko, D., ‘‘Adaptive Hierarchical Control of Industrial Robots’’, IFAC Symp. Robot Control, 163-168, (1988).
  • Arai, H., Tanie, K., Shiroma, N., ‘‘Time-Scaling Control of an Underactuated Manipulator’’, Journal of Robotic Systems, 15:525-536, (1998).
  • Fiene, J., Niemeyer, G., ‘‘Toward High-Speed Switching Motor Control for Human Interactive Robotics’’, Proc. IEEE Int. Conf. on Robotics and Automation,1501-1506, (2005).
  • Mills, J.K., ‘‘Simultaneous Control of Robot Manipulator Impedance and Generalized Force and Position’’, Mech. Mach. Theory, 31(8):1069- 1080, (1996).
  • Maday, C.J., ‘‘Feedback Control Systems for Time Response’’, Instrument Society of America, U.S.A.,(1987).
  • Caner, U., Eroğlu, M., ‘‘State Feedback Plus Integral Error Controller Approach For Robot Arm Control Design’’, J. Fac. Eng. Arch. Gazi Univ.19(3):335-342, (2004).
  • Bassi, E., Benzi, F., Scattolini, R., ‘‘Design of a Digital Adaptive Controller Drives in Industrial Applications’’, IEEE Transanctions on Industrial Electronics, 39(2):120-127, (1992). [9]. Farhad, ‘‘Experimental Characterization and Quadratic Programming-Based Motors’’, IEEE Transanctions on Control System Technology, 11(1):139-146, (2003). John, M.H., Control of Brushhles
  • Goforth, F.C., ‘‘On Motion Control Design and Tuning Techniques’’, Proceeding of American Control Conference, 1(1):716-721, (2004).
There are 9 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Mechanical Engineering
Authors

Nihat Gemalmayan

M. Tunalıoğlu This is me

Publication Date October 2, 2013
Published in Issue Year 2013 Volume: 26 Issue: 3

Cite

APA Gemalmayan, 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.
AMA Gemalmayan N, Tunalıoğlu M. Saturation Operation on the Direct Current Motor That is Used for Manipulator Control. Gazi University Journal of Science. October 2013;26(3):459-465.
Chicago Gemalmayan, Nihat, and M. Tunalıoğlu. “Saturation Operation on the Direct Current Motor That Is Used for Manipulator Control”. Gazi University Journal of Science 26, no. 3 (October 2013): 459-65.
EndNote Gemalmayan N, Tunalıoğlu M (October 1, 2013) Saturation Operation on the Direct Current Motor That is Used for Manipulator Control. Gazi University Journal of Science 26 3 459–465.
IEEE N. Gemalmayan and M. Tunalıoğlu, “Saturation Operation on the Direct Current Motor That is Used for Manipulator Control”, Gazi University Journal of Science, vol. 26, no. 3, pp. 459–465, 2013.
ISNAD Gemalmayan, Nihat - Tunalıoğlu, M. “Saturation Operation on the Direct Current Motor That Is Used for Manipulator Control”. Gazi University Journal of Science 26/3 (October 2013), 459-465.
JAMA Gemalmayan N, Tunalıoğlu M. Saturation Operation on the Direct Current Motor That is Used for Manipulator Control. Gazi University Journal of Science. 2013;26:459–465.
MLA Gemalmayan, Nihat and M. Tunalıoğlu. “Saturation Operation on the Direct Current Motor That Is Used for Manipulator Control”. Gazi University Journal of Science, vol. 26, no. 3, 2013, pp. 459-65.
Vancouver Gemalmayan N, Tunalıoğlu M. Saturation Operation on the Direct Current Motor That is Used for Manipulator Control. Gazi University Journal of Science. 2013;26(3):459-65.