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

Requirements

The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2017a or newer.

Usage

Make the main folder as a working folder and run 'SimInitializationGP.m' for the simulation initialization. Afterwards, run 'SimForcesGP2020a.slx' or 'SimForces2017a.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