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Modeling and identification of an electrohydraulic articulated forestry machine

This paper focuses on modeling and parameter estimation for the electrohydraulic actuation system of an articulated forestry machine. The linear graph method is implemented in deriving mathematical models of 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 parameters are discussed. Model validation studies show good agreement between model predictions and experiments. The derived models will be used for designing a controller for coordinated endpoint motion, for prediction, and for a real-time graphical training simulator.