Mobile Manipulator Wheel Loads

4-wheeled mobile manipulator simulation with the wheel normal forces in focus
Updated 20 Mar 2022

Analytic Solutions For Wheeled Mobile Manipulator Supporting Forces

The repository contains Simulink model and MATLAB code for calculation of the supporting forces in 4-wheeled mobile manipulator per the proposed approach in:


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.

Find it also at MATLAB Central File Exchange

View Mobile Manipulator Wheel Forces on File Exchange


Credit for the manipulator arm CAD models goes to Dr Janne Koivumäki.

Check out his list of publications

Cite As

Petrovic, Goran R., and Jouni Mattila. “Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces.” IEEE Access, vol. 10, Institute of Electrical and Electronics Engineers (IEEE), 2022, pp. 43235–55, doi:10.1109/access.2022.3169766.

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MATLAB Release Compatibility
Created with R2021b
Compatible with R2020a and later releases
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes

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.