Virtual decomposition control of a hydraulic manipulator

Versión 1.0.0 (4,68 MB) por 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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Actualizado 26 ene 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

Citar como

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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Compatibilidad con la versión de MATLAB

Se creó con R2022a

Compatible con cualquier versión desde R2020a

Compatibilidad con las plataformas

Windows macOS Linux

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Agradecimientos

Inspirado por: Calculating actuator forces on a hardware target

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Versión	Publicado	Notas de la versión
1.0.0	26 ene 2023		Descargar

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

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} }