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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Vydané v:	IEEE robotics and automation letters Ročník 4; číslo 4; s. 3657 - 3664
Hlavní autori:	Wang, Yan, Gondokaryono, Radian, Munawar, Adnan, Fischer, Gregory Scott
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Piscataway IEEE 01.10.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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
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