Add needle description #6
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…untion for force estimation
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Updated pantograph description and model to take into account the needle. The tip of the needle is considered linked to the pantograph end effector using a universal joint which allows the needle to rotate around the fixed insertion point.
Added test package for testing of the robot model by comparing the values of the FKM and IKM to values obtained in MATLAB.
Added function that calculates the force that the pantograph needs to create to generate a guiding force felt by the user at the other end of the needle.