Can Kocabalkanli and Nicolas Lamaison - EN.601.656 Computer-Integrated Surgery II - Spring 2020
Project: Kinematic Calibration and Simulation for the Galen Mk. 2 Microsurgical Robot

README - Galen Mk. 2 simulation model folder

This folder contains all simulation models for the Galen Mk. 2 calibration simulation model. The Blender .blend files and robot configuration 
.yaml files included in the main folder correspond to the three robot models developed for this project: an idealized model with no systematic errors and two
models with varying degrees of systematic errors. The remaining files for this submission are divided into the following folders:

high_res - high resolution meshes used for the simulation Blender and AMBF models
low_res - low resolution meshes used for the simulation Blender and AMBF models
documentation - information regarding the kinematic parameters/transformations used for the Blender model and systematic errors for each robot

Running the AMBF simulator:

To run any of the Galen Mk. 2 models in the simulation, one must clone the Asynchronous Multi-Body Framework (AMBF) software package found at:

https://github.com/nlamaison/ambf/tree/galen_robotics

This is a Galen Robotics-specific fork of the AMBF software package used in developing the simulation. Please refer to the AMBF documentation found
at https://github.com/WPI-AIM/ambf for instructions on how to build and run the AMBF simulator.

Editing the Blender models:

To edit the Blender models, install Blender 2.79 located at https://www.blender.org/download/releases/2-79/ and install the AMBF Blender plug-in which can
also be found on the AMBF git. Run the AMBF add-on script in Blender and then open the desired Galen Mk. 2 Blender model to access all kinematic and dynamic
paramters.

If you have any questions, please contact Nico Lamaison or Can Kocabalkanli.

Nico Lamaison
phone: 7074846010
email: nlamaison77@gmail.com

Can Kocabalkanli
phone: 4438089770
email: cankocabalkanli@gmail.com

