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dc.contributor Graduate Program in Electrical and Electronic Engineering.
dc.contributor.advisor Istefanopulos, Yorgo.
dc.contributor.author Kılınç, Nevzat.
dc.date.accessioned 2023-03-16T10:21:42Z
dc.date.available 2023-03-16T10:21:42Z
dc.date.issued 1985.
dc.identifier.other EE 1985 K55
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/13037
dc.description.abstract In this study, a brief information about the kinematics and dynamics of a mechanical manipulator is presented and a control method is examined. The method used to obtain the dynamic equations of motion is well suited for computer usage. In the control of a manipulator the Model Reference Adaptive System theory is used.The ideal formulation of the manipulator is chosen as the Reference Model and the manipulator system outputs are forced to follow the reference model. Three different control methods are also examined to make a comparison with the presented control scheme. To evaluate the performance of the Manipulator control system a simulation study is performed and it is observed that for different motions and varying loads the system shows a good performance.
dc.format.extent 30 cm.
dc.publisher Thesis (M.S.) - Bogazici University. Institute for Graduate Studies in Science and Engineering, 1985.
dc.relation Includes appendices.
dc.relation Includes appendices.
dc.subject.lcsh Manipulators (Mechanism)
dc.subject.lcsh Robots -- Control systems.
dc.subject.lcsh Robots -- Kinematics.
dc.subject.lcsh Robots -- Dynamics.
dc.title A study on manipulator control
dc.format.pages xiii, 90 leaves;


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