Virtual decomposition control of a hydraulic manipulator
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
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
Cite As
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.
Acknowledgements
Inspired by: Calculating actuator forces on a hardware target
General Information
- Version 1.0.0 (4.68 MB)
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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 |
