Calculating actuator forces on a hardware target
Mathematical modelling and virtual decomposition control of heavy-duty parallel-serial manipulators
The repository contains Simulink model and MATLAB code for the real-world hydraulic manipulator forces simulation, based on the approach proposed in the article:
https://doi.org/10.1016/j.mechmachtheory.2021.104680
The code is such that enables easy parametrization and consequently easy code generation for running on a hardware target.
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 and run 'initializeSimulationGP.m' for the simulation initialization. Afterwards, run 'SimForces2020a.slx' or 'SimForces2022a.slx'.
Licence
See LICENSE.txt for licencing information.
Find it also at MATLAB Central File Exchange
Acknowledgement
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
引用格式
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.
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