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
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, initialize simulation parameters running the .m files and run the .slx model.
See LICENSE.txt for licencing information.
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