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Home / ManipulatorServiceSet / ManipulatorJointForceTorqueSensor


Version: 1.0
ID: urn:jaus:jss:manipulator:ManipulatorJointForceTorqueSensor
Inherits From:
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The function of the Joint Force/Torque Sensor is to report the values of instantaneous torques (for revolute joints) and forces (for prismatic joints) that are applied at the individual joints of the manipulator kinematic model when queried.

Internal Event Set

Message Set
Message ID Name
2605h QueryJointForceTorque
2600h QueryManipulatorSpecifications
4605h ReportJointForceTorque

State Machine Diagram

ManipulatorJointForceTorqueSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A JointForceTorqueSensorDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryJointForceTorque sendReportJointForceTorque

Action Name Type Description
sendReportJointForceTorque Send Action Send Report Joint Force Torque message to the service that sent the query
Output Message: ReportJointForceTorque
sendReportManipulatorSpecifications Send Action Send a report manipulator specs message
Output Message: ReportManipulatorSpecifications

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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