Mobile Manipulator Wheel Loads

Version 1.0.0 (1,32 Mo) par Goran Petrovic

4-wheeled mobile manipulator simulation with the wheel normal forces in focus

https://ieeexplore.ieee.org/document/9762293

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Mise à jour 20 mars 2022

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Analytic Solutions For Wheeled Mobile Manipulator Supporting Forces

The repository contains Simulink model and MATLAB code for calculation of the supporting forces in 4-wheeled mobile manipulator per the proposed approach in:

https://ieeexplore.ieee.org/document/9762293

Requirements

The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2020a or newer.

Usage

Make the main folder as a working folder, initialize simulation parameters running the .m files and run the .slx model.

Licence

See LICENSE.txt for licencing information.

Find it also at MATLAB Central File Exchange

Acknowledgement

Credit for the manipulator arm CAD models goes to Dr Janne Koivumäki.

Check out his list of publications https://scholar.google.fi/citations?user=Llrx-nsAAAAJ&hl=fi

Citation pour cette source

Petrovic, Goran R., and Jouni Mattila. “Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces.” IEEE Access, vol. 10, Institute of Electrical and Electronics Engineers (IEEE), 2022, pp. 43235–55, doi:10.1109/access.2022.3169766.

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Compatibilité avec les versions de MATLAB

Créé avec R2021b

Compatible avec les versions R2020a et ultérieures

Plateformes compatibles

Windows macOS Linux

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Remerciements

Inspiré par : MATLAB and Simulink Racing Lounge: Vehicle Modeling with Simscape Multibody

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Version	Publié le	Notes de version
1.0.0	20 mars 2022		Télécharger

Pour consulter ou signaler des problèmes liés à ce module complémentaire GitHub, accédez au dépôt GitHub.

MLA	Petrovic, Goran R., and Jouni Mattila. “Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces.” IEEE Access, vol. 10, Institute of Electrical and Electronics Engineers (IEEE), 2022, pp. 43235–55, doi:10.1109/access.2022.3169766.
APA	Petrovic, G. R., & Mattila, J. (2022). Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces. IEEE Access, 10, 43235–43255. Institute of Electrical and Electronics Engineers (IEEE). Retrieved from https://doi.org/10.1109%2Faccess.2022.3169766
BibTeX	@article{Petrovic_2022, doi = {10.1109/access.2022.3169766}, url = {https://doi.org/10.1109%2Faccess.2022.3169766}, year = 2022, publisher = {Institute of Electrical and Electronics Engineers ({IEEE})}, volume = {10}, pages = {43235--43255}, author = {Goran R. Petrovic and Jouni Mattila}, title = {Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces}, journal = {{IEEE} Access} }