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Home / ManipulatorServiceSet / ManipulatorEndEffectorPoseListDriver

ManipulatorEndEffectorPoseListDriver

Version: 1.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorPoseListDriver
Inherits From:
extended byurn:jaus:jss:mobility:ListManager v1.0
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

Description:
The function of the End-Effector Pose List Driver is to perform closed-loop control of a sequence of positions and orientations of the tool tip specified in vehicle coordinate system. The sequence of targets is specified by one or more SetElement messages, as defined by the List Manager Service. The "Set Motion Profile" message is used to set maximum velocity and acceleration rates for each of the variable joint parameters. All motions utilize the motion profile data that was most recently sent. Default settings are not assumed so that upon initialization this message must be sent before the first "ExecuteList" message is sent.

Internal Event Set
None


Message Set
Message ID Name
061Eh ExecuteList
261Eh QueryActiveElement
2610h QueryCommandedEndEffectorPose
2607h QueryJointMotionProfile
2600h QueryManipulatorSpecifications
2604h QueryToolOffset
461Eh ReportActiveElement
4610h ReportCommandedEndEffectorPose
4607h ReportJointMotionProfile
4604h ReportToolOffset
0607h SetJointMotionProfile
0604h SetToolOffset

State Machine Diagram

ManipulatorEndEffectorPoseListDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B EndEffectorPoseListDriverControlledLoop SetJointMotionProfile isControllingClient setJointMotionProfile
SetToolOffset isControllingClient setToolOffset
A EndEffectorPoseListDriverDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryToolOffset sendReportToolOffset
QueryActiveElement sendReportActiveElement
QueryJointMotionProfile motionProfileExists sendReportJointMotionProfile
QueryCommandedEndEffectorPose sendReportCommandedEndEffectorPose
C EndEffectorPoseListDriverReadyLoop ExecuteList isControllingClient && ( elementExists && motionProfileExists ) executeTargetList


Actions
Action Name Type Description
executeTargetList Begin sequential execution of the target list starting at the specified element.
sendReportActiveElement Send Action Send a Report Active Element message
Output Message: ReportActiveElement
sendReportCommandedEndEffectorPose Send Action Send a Report Commanded End Effector Pose message
Output Message: ReportCommandedEndEffectorPose
sendReportJointMotionProfile Send Action Send a Report Motion Profile message
Output Message: ReportJointMotionProfile
sendReportManipulatorSpecifications Send Action Send a report manipulator specs message
Output Message: ReportManipulatorSpecifications
sendReportToolOffset Send Action Send a Report Tool Offset message
Output Message: ReportToolOffset
setJointMotionProfile Set the joint motion profile parameters for the manipulator.
setToolOffset Set the location of the tool tip as measured in the end effector coordinate system
stopMotion Exit Action



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The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

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