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Patient Side Manipulator Dynamic Model Identification for the da Vinci Research Kit

Year: 2024

Type: conference-paper

Abstract: In surgical robotics, accurate characterization of the dynamic model is crucial for developing robust control algorithms that effectively handle the interactions with the environment. This paper presents novel dynamic model for the da Vinci Research Kit (dVRK) Patient Side Manipulator (PSM) robot that employs a novel friction model definition, estimated using the superposition method. The identified model is evaluated using a model-based force estimation method.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.14731191

Authors: Argin, Omer Faruk, Moccia, Rocco, Iacono, Cristina, Ficuciello, Fanny

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6911837660

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