Matlab and Python code for system identification of the Patient Side Manipulator of the DaVinci Research Kit
#Dynamics Derivation Matlab code to derive Patient Side Manipulator: -Forward Kinematics -Dynamics -Lumping of Parameters -Seperation of variables for feedback linearization
#Trajectory Optimization Matlab Code to Optimize excitation trajectory for system identification
#si_experiment_publisher Python-ros src code for experimentation of the system identification using the ROS bridge provided by WPI-dvrk-ros and JHU-cisst-saw libraries. Includes motion controller publisher, force controller publisher, data acquisition to csv.