Abstract
The da Vinci Research Kit (dVRK) has been installed at over 25 research institutions across the world, forming a research community sharing a common open-source research platform. This paper presents the dVRK software architecture, which consists of a distributed hardware interface layer, a real-Time component-based software framework, and integration with the Robot Operating System (ROS). The architecture is scalable to support multiple active manipulators, reconfigurable to enable researchers to partition a full system into multiple independent subsystems, and extensible at all levels of control.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 180-187 |
| Number of pages | 8 |
| ISBN (Electronic) | 9781509067237 |
| DOIs | |
| State | Published - May 11 2017 |
| Event | 1st IEEE International Conference on Robotic Computing, IRC 2017 - Taichung, Taiwan, Province of China Duration: Apr 10 2017 → Apr 12 2017 |
Other
| Other | 1st IEEE International Conference on Robotic Computing, IRC 2017 |
|---|---|
| Country | Taiwan, Province of China |
| City | Taichung |
| Period | 4/10/17 → 4/12/17 |
Keywords
- Da Vinci Research Kit
- Real-Time Systems
- Robot Control
- Software Architecture
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Optimization
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Cite this
Chen, Z., Deguet, A., Taylor, R. H., & Kazanzides, P. (2017). Software architecture of the da vinci research kit. In Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017 (pp. 180-187). [7926536] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2017.69