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Home / ManipulatorServiceSet / ManipulatorEndEffectorVelocityStateDriver


Version: 1.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorVelocityStateDriver
Inherits From:
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

The function of the End Effector Velocity State Driver is to perform closed-loop velocity control of the tool tip. The velocity state of the tool tip is defined by two length-three vectors, i.e. ?e and vtool,e. These vectors respectively represent the angular velocity of the end-effector coordinate system and the linear velocity of the tool tip as measured with respect to the manipulator base system. 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 "Set End Effector Velocity State" message is sent. It is assumed that the manipulator begins motion immediately after receiving the "Set End Effector Velocity State" message.

Internal Event Set

Message Set
Message ID Name
2612h QueryCommandedEndEffectorVelocityState
2607h QueryJointMotionProfile
2600h QueryManipulatorSpecifications
2604h QueryToolOffset
4612h ReportCommandedEndEffectorVelocityState
4607h ReportJointMotionProfile
4604h ReportToolOffset
0612h SetEndEffectorVelocityState
0607h SetJointMotionProfile
0604h SetToolOffset

State Machine Diagram

ManipulatorEndEffectorVelocityStateDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B EndEffectorVelocityStateDriverControlledLoop SetJointMotionProfile isControllingClient setJointMotionProfile
SetToolOffset isControllingClient setToolOffset
A EndEffectorVelocityStateDriverDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryToolOffset sendReportToolOffset
QueryJointMotionProfile motionProfileExists sendReportJointMotionProfile
QueryCommandedEndEffectorVelocityState sendReportCommandedEndEffectorVelocityState
C EndEffectorVelocityStateDriverReadyLoop SetEndEffectorVelocityState isControllingClient && motionProfileExists setEndEffectorVelocityState

Action Name Type Description
sendReportCommandedEndEffectorVelocityState Send Action Send a Report Commanded End effector velocity state message
Output Message: ReportCommandedEndEffectorVelocityState
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
setEndEffectorVelocityState Set the desired velocity state for the end-effector
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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Portions Copyright © OpenJAUS LLC.
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.

Generated on 09/11/2015 from AS6057-Manipulator.ojss