Mobile Manipulator Wheel Loads

Versión 1.0.0 (1,32 MB) por Goran Petrovic

4-wheeled mobile manipulator simulation with the wheel normal forces in focus

https://ieeexplore.ieee.org/document/9762293

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Actualizado 20 mar 2022

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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

Citar como

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.

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Compatibilidad con la versión de MATLAB

Se creó con R2021b

Compatible con cualquier versión desde R2020a

Compatibilidad con las plataformas

Windows macOS Linux

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Agradecimientos

Inspirado por: MATLAB and Simulink Racing Lounge: Vehicle Modeling with Simscape Multibody

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Versión	Publicado	Notas de la versión
1.0.0	20 mar 2022		Descargar

Para consultar o notificar algún problema sobre este complemento de GitHub, visite el repositorio de GitHub.

MLA	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.
APA	Petrovic, G. R., & Mattila, J. (2022). Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces. IEEE Access, 10, 43235–43255. Institute of Electrical and Electronics Engineers (IEEE). Retrieved from https://doi.org/10.1109%2Faccess.2022.3169766
BibTeX	@article{Petrovic_2022, doi = {10.1109/access.2022.3169766}, url = {https://doi.org/10.1109%2Faccess.2022.3169766}, year = 2022, publisher = {Institute of Electrical and Electronics Engineers ({IEEE})}, volume = {10}, pages = {43235--43255}, author = {Goran R. Petrovic and Jouni Mattila}, title = {Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces}, journal = {{IEEE} Access} }