The design of a physics-based dynamic simulator of a robot requires to properly integrate the robot kinematic and dynamic properties in a virtual environment. Naturally, the closer is the integrated information to the real robot properties, the more accurate the simulator predicts the real robot behaviour. A reliable robot simulator is a valuable asset for developing new research ideas; its use dramatically reduces the costs and it is available to all researchers. This letter presents a dynamic simulator of the da Vinci Research Kit (dVRK) patient-side manipulator (PSM). The kinematic and dynamic properties of the simulator rely on the parameters identified in Wang et al. With respect to the kinematic simulator previously developed by some of the authors, this work: (i) redefines the kinematic architecture and the actuation model by modeling the double parallelogram and the counterweight mechanism, to reflect the structure of the real robot; (ii) integrates the identified dynamic parameters in the simulation model. The obtained simulator enables the design and validation of control strategies relying on the robot dynamic model, including interaction force estimation and control, that are fundamental to guarantee safety in many surgical tasks.

A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit / Ferro, Marco; Mirante, Alessandro; Ficuciello, Fanny; Vendittelli, Marilena. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 8:1(2023), pp. 129-136. [10.1109/LRA.2022.3222994]

A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit

Marco Ferro
Membro del Collaboration Group
;
Alessandro Mirante
Membro del Collaboration Group
;
Marilena Vendittelli
Membro del Collaboration Group
2023

Abstract

The design of a physics-based dynamic simulator of a robot requires to properly integrate the robot kinematic and dynamic properties in a virtual environment. Naturally, the closer is the integrated information to the real robot properties, the more accurate the simulator predicts the real robot behaviour. A reliable robot simulator is a valuable asset for developing new research ideas; its use dramatically reduces the costs and it is available to all researchers. This letter presents a dynamic simulator of the da Vinci Research Kit (dVRK) patient-side manipulator (PSM). The kinematic and dynamic properties of the simulator rely on the parameters identified in Wang et al. With respect to the kinematic simulator previously developed by some of the authors, this work: (i) redefines the kinematic architecture and the actuation model by modeling the double parallelogram and the counterweight mechanism, to reflect the structure of the real robot; (ii) integrates the identified dynamic parameters in the simulation model. The obtained simulator enables the design and validation of control strategies relying on the robot dynamic model, including interaction force estimation and control, that are fundamental to guarantee safety in many surgical tasks.
2023
Surgical robotics; Robot dynamic model; Simulation; Robot-assisted minimally invasive surgery; da Vinci Surgical System
01 Pubblicazione su rivista::01a Articolo in rivista
A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit / Ferro, Marco; Mirante, Alessandro; Ficuciello, Fanny; Vendittelli, Marilena. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 8:1(2023), pp. 129-136. [10.1109/LRA.2022.3222994]
File allegati a questo prodotto
File Dimensione Formato  
Ferro_postoprint_A-CoppeliaSim_2023.pdf

accesso aperto

Tipologia: Documento in Pre-print (manoscritto inviato all'editore, precedente alla peer review)
Licenza: Creative commons
Dimensione 2.33 MB
Formato Adobe PDF
2.33 MB Adobe PDF
Ferro_A-CoppeliaSim_2023.pdf

solo gestori archivio

Tipologia: Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 2.61 MB
Formato Adobe PDF
2.61 MB Adobe PDF   Contatta l'autore

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1661364
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 5
  • ???jsp.display-item.citation.isi??? 3
social impact