Year 2013,
Volume: 26 Issue: 3, 459 - 465, 02.10.2013
Nihat Gemalmayan
,
M. Tunalıoğlu
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).
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- 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).
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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
Nihat Gemalmayan
,
M. Tunalıoğlu
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).