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A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tube-like soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing...
Focuses on modeling, parameter estimation, and control for a heavy-duty electrohydraulic manipulator of a harvester machine. The linear-graph method is implemented in deriving mathematical models for the swing, boom and stick subsystems. Actuation dynamics are subsequently integrated with manipulator dynamics to result in a complete machine model. Identification procedures employed in estimating physical...
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