A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit - Wang, Yan; Gondokaryono, Radian; Munawar, Adnan; Fischer, Gregory Scott (IEEE robotics and automation letters, 2019)
Keywords: 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