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slrt-dVRK-commander is developed to provide force-controlled exploration/palpation functionality using dVRK. The program is developed under Matlab Simulink Real-time environment which adds programming flexibility since the current dVRK is mainly developed under cisst and ROS.
The current repository works with a legacy cisst UDP communication version at sawUDPPSM. The legacy cisst UDP has been re-written and completed as socket utilities as sawIntuitiveResearchKit sockets
The wiki page Force-controlled scan using Simulink Real-time documents the main usage of this repository that generates a raster trajectory scan pattern, executes(sends) the trajectory interpolation in real time, and calculates compatible (decomposed) positions in force-controlled direction and motion controlled direction (hybrid force position admittance control).
The wiki page Model Mediated Tele Operation explains the usage of this program in our collaborated demonstration development with Johns Hopkins University and Carnegie Mellon University.