The repository contains Simulink model and MATLAB code for the real-world hydraulic manipulator forces simulation, based on the approach proposed in the article:
https://doi.org/10.1016/j.mechmachtheory.2021.104680
The code is such that enables easy parametrization and consequently easy code generation for running on a hardware target.
The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2020a or newer.
Make the main folder as a working folder and run 'initializeSimulationGP.m' for the simulation initialization. Afterwards, run 'SimForces2020a.slx' or 'SimForces2022a.slx'.
See LICENSE.txt for licencing information.
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