Mobile Manipulator Wheel Loads
4-wheeled mobile manipulator simulation with the wheel normal forces in focus
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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
Cite As
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.
Acknowledgements
Inspired by: MATLAB and Simulink Racing Lounge: Vehicle Modeling with Simscape Multibody
General Information
- Version 1.0.0 (1.32 MB)
-
View License on GitHub
MATLAB Release Compatibility
- Compatible with R2020a and later releases
Platform Compatibility
- Windows
- macOS
- Linux
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.0.0 |
