Testing the latest dVRK-S controller prototype to support the PSMs and ECMs from da Vinci Si systems. This controller is now based on PWM amps as opposed to linear amps and is much more compact. It also delivers more power and doesn't get as hot as the linear amps. This is still a prototype, the PCB needs to be cleaned-up, firmware is a bit rough and the software has some hard coded values for the PSM S. But it moves!
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Prototype controller for the dVRK-S (tele operation) - 2021
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