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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Veröffentlicht in:IEEE robotics and automation letters Jg. 4; H. 4; S. 3657 - 3664
Hauptverfasser: Wang, Yan, Gondokaryono, Radian, Munawar, Adnan, Fischer, Gregory Scott
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.10.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
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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Zusammenfassung: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, counterweight, and tendon couplings, which are inherent to the dVRK. A convex optimization-based method is used to identify the dynamic parameters of the dVRK subject to physical consistency. Experimental results show the effectiveness of the modeling and the robustness of the package. Although this software package is originally developed for the dVRK, it is feasible to apply it on other similar robots.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2019.2927947