Virtual decomposition control of a hydraulic manipulator

Version 1.0.0 (4.68 MB) by Goran Petrovic

Worked out example which demontstrates the virtual decomposition control principles on a hydraulic manipulator example.

https://github.com/petrovicrgoran/HydraulicManipulatorVDC

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Updated 26 Jan 2023

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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.

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MATLAB Release Compatibility

Created with R2022a

Compatible with R2020a and later releases

Platform Compatibility

Windows macOS Linux

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Acknowledgements

Inspired by: Calculating actuator forces on a hardware target

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Version	Published	Release Notes
1.0.0	26 Jan 2023		Download

To view or report issues in this GitHub add-on, visit the GitHub Repository.

MLA	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.
APA	Petrović, G. R., & Mattila, J. (2022). Mathematical modelling and virtual decomposition control of heavy-duty parallel–serial hydraulic manipulators. Mechanism and Machine Theory, 170, 104680. Elsevier BV. Retrieved from https://doi.org/10.1016%2Fj.mechmachtheory.2021.104680
BibTeX	@article{Petrovi__2022, doi = {10.1016/j.mechmachtheory.2021.104680}, url = {https://doi.org/10.1016%2Fj.mechmachtheory.2021.104680}, year = 2022, month = {apr}, publisher = {Elsevier {BV}}, volume = {170}, pages = {104680}, author = {Goran R. Petrovi{\'{c}} and Jouni Mattila}, title = {Mathematical modelling and virtual decomposition control of heavy-duty parallel{\textendash}serial hydraulic manipulators}, journal = {Mechanism and Machine Theory} }