Mobile Manipulator Wheel Loads

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

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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

View Mobile Manipulator Wheel Forces on 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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Versión Publicado Notas de la versión
1.0.0

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