A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit
A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit
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DOI：
10.1109/lra.2019.2927947
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发表时间：
2019-10-01
影响因子：
5.2
通讯作者：
Fischer, Gregory Scott
中科院分区：
文献类型：
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作者：
Wang, Yan;Gondokaryono, Radian;Fischer, Gregory Scott
达芬奇研究套件（dVRK）是一种远程手术机器人系统。为了进行动态仿真和基于模型的控制，需要建立dVRK的动态模型。我们为dVRK提供了一个开源的动态模型识别包，能够对dVRK固有的平行四边形、弹簧、配重和肌腱耦合进行建模。采用基于凸优化的方法识别符合物理一致性的dVRK动态参数。实验结果表明了模型的有效性和包的鲁棒性。虽然这个软件包最初是为dVRK开发的，但它可以应用于其他类似的机器人。
The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations andmodel-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.