Hydraulic manipulator forces modelling
Updated 10 Oct 2021
The repository contains Simulink model and MATLAB code for the real-world hydraulic manipulator forces simulation, based on the approach proposed in the article:
The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2017a or newer.
Make the main folder as a working folder and run 'SimInitializationGP.m' for the simulation initialization. Afterwards, run 'SimForcesGP2020a.slx' or 'SimForces2017a.slx'.
See LICENSE.txt for licencing information.
Credit for all the CAD models goes to Dr Janne Koivumäki.
Check out his list of publications https://scholar.google.fi/citations?user=Llrx-nsAAAAJ&hl=fi
Petrović, Goran R., and Jouni Mattila. “Mathematical Modelling and Virtual Decomposition Control of Heavy-Duty Parallel–Serial Hydraulic Manipulators.” Mechanism and Machine Theory, vol. 170, Elsevier BV, Apr. 2022, p. 104680, doi:10.1016/j.mechmachtheory.2021.104680.
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
Inspired: Mobile Manipulator Wheel Forces
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