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Home / ManipulatorServiceSet / ManipulatorEndEffectorVelocityStateSensor

ManipulatorEndEffectorVelocityStateSensor

Version: 1.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorVelocityStateSensor
Inherits From:
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 Velocity State Sensor is to report the velocity state of the tool tip as 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.

Internal Event Set
None


Message Set
Message ID Name
2616h QueryEndEffectorVelocityState
2600h QueryManipulatorSpecifications
2604h QueryToolOffset
4616h ReportEndEffectorVelocityState
4604h ReportToolOffset
0604h SetToolOffset

State Machine Diagram

ManipulatorEndEffectorVelocityStateSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B EndEffectorVelocityStateSensorControlledLoop SetToolOffset isControllingClient setToolOffset
A EndEffectorVelocityStateSensorDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryToolOffset sendReportToolOffset
QueryEndEffectorVelocityState sendReportEndEffectorVelocityState


Actions
Action Name Type Description
sendReportEndEffectorVelocityState Send Action Send a report end effector velocity state message
Output Message: ReportEndEffectorVelocityState
sendReportManipulatorSpecifications Send Action Send a report manipulator specs message
Output Message: ReportManipulatorSpecifications
sendReportToolOffset Send Action Send a report tool offset message
Output Message: ReportToolOffset
setToolOffset Set the location of the tool point as measured in the end effector coordinate system.



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