Simulkin Real-time Commander for dVRK

This repository is used to command a dVRK robot using Simulink Real-time environment. The main documentation is in the slrt-dVRK-commander wiki

ATI_NetFT

This repository has a second purpose, to provide interfaces for target computers to connect with ATI force sensor hardware and send force sensor readings over UDP. These are done to mimic the same UDP packets that are sent with ATI NetFT devices.

Scripts Folder

The Main_ATI_NetFT.m script allows you to run the AT_NetFT on any of a number of different targets and with different sensors (Nano17, Nano43, Gamma)

Model Folder

This folder contains the Simulink realtime model, made in MATLAB 2016a. The model is called “PSM_Commander.slx� and contains all the base functions of the Commander. The code is separated according to what you would expect in a control loop: a trajectory planner, a low level controller, and a plant that communicates with the hardware. There is also a “scope� block to allow real-time data visualization and data logging as well as a “motor enable� subsystem that does what it implies. The piece of the code that is most likely to require adjustments is the “plant� block if any of your hardware interfaces are different.

The model should be built using the “MAKE_PSMCMD.m� function, which will make sure the model is built inside the build folder and that all dependencies are added to the path.

The function “PSMCMD_DEPENDENCY.m� makes sure all the dependencies are added to the MATLAB path. This function must be changed to match the model path on your computer.

Experiment Scripts JMR

Contains important experiment scripts (self-explanatory), which are mostly used for our published work in Journal of Mechanisms and Robotics.

• Initialize_PSM_CMD - initialize the PSM, and home it (optional).
• Main_Surface_Explore - main script to run the surface exploration (scan)

ControlFunc Folder

Contains necessary subfunctions for editing model parameters and running the robot.

• Hybrid_adm_set_goal_pose - set goal pose in hybrid admittance and position control.
• Hybrid_adm_set_trajectory - set the trajectory properties under "Hybrid admittance controller"
• Hybrid_adm_config - configure the properties of the "Hybrid Admittance Controller"

Data Folder

Doesn’t do anything, just useful to have a place to store things taken during experiments

Git Ignore File

If you want to set up this model for a git repository, this ignore will makes it a lot smaller by ignoring the data folder and the build folder (which is really large).