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

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.