A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit

The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations and model-based control, the dynamic model of the dVRK is required. We present an open-source dynamic model identification package for the dVRK, capable of modeling the parallelograms, springs, counte...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 4; no. 4; pp. 3657 - 3664
Main Authors:	Wang, Yan, Gondokaryono, Radian, Munawar, Adnan, Fischer, Gregory Scott
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.10.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Calibration and Identification Computer simulation Convex analysis Convexity Counterbalances Couplings Dynamic models Dynamics Economic models Kinematics Manipulator dynamics Modelling Open source software Optimization Parallelograms Parameter identification Source code Surgical Robotics: Laparoscopy
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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