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

• 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

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...