Hydraulic manipulator forces modelling

version 1.0.2 (1.96 MB) by Goran Petrovic
MATLAB/Simulink files illustrating force calculations in the serial-parallel hydraulic manipulator, using the real-world example.


Updated Sun, 10 Oct 2021 21:24:02 +0000

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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 forces simulation, based on the approach proposed in the article:



The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2017a or newer.


Make the main folder as a working folder and run 'SimInitializationGP.m' for the simulation initialization. Afterwards, run 'SimForcesGP2020a.slx' or 'SimForces2017a.slx'.


See LICENSE.txt for licencing information.

Find it also at MATLAB Central File Exchange

View Hydraulic manipulator forces modelling on File Exchange


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 R2020a
Compatible with R2017a to R2020a
Platform Compatibility
Windows macOS Linux

Inspired: Mobile Manipulator Wheel Loads

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