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
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 '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.
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