Virtual decomposition control of a hydraulic manipulator

版本 1.0.0 (4.7 MB) 作者: Goran Petrovic
Worked out example which demontstrates the virtual decomposition control principles on a hydraulic manipulator example.
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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 control, based on the approach proposed in the article:

https://doi.org/10.1016/j.mechmachtheory.2021.104680

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 'RUN_ME.m' The 'RUN_ME.m' file is such that is allows the user to make easy changes to relevant parameters and investigate their influence to the simulated system behavior.

Licence

See LICENSE.txt for licencing information.

Find it also at MATLAB Central File Exchange

View Virtual decomposition control of a hydraulic manipulator on 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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MATLAB 版本兼容性
创建方式 R2022a
与 R2020a 及更高版本兼容
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版本 已发布 发行说明
1.0.0

要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。
要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。