TY - GEN
T1 - Software architecture of the da vinci research kit
AU - Chen, Zihan
AU - Deguet, Anton
AU - Taylor, Russell H.
AU - Kazanzides, Peter
N1 - Funding Information:
This work was supported by the National Science Foundation (NSF) via the National Robotics Initiative (NRI) grants 1637789, 120854, and 1327657
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/5/11
Y1 - 2017/5/11
N2 - 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.
AB - 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.
KW - Da Vinci Research Kit
KW - Real-Time Systems
KW - Robot Control
KW - Software Architecture
UR - http://www.scopus.com/inward/record.url?scp=85020185819&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85020185819&partnerID=8YFLogxK
U2 - 10.1109/IRC.2017.69
DO - 10.1109/IRC.2017.69
M3 - Conference contribution
AN - SCOPUS:85020185819
T3 - Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
SP - 180
EP - 187
BT - Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st IEEE International Conference on Robotic Computing, IRC 2017
Y2 - 10 April 2017 through 12 April 2017
ER -