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Home / ManipulatorServiceSet / ManipulatorJointPositionDriver

ManipulatorJointPositionDriver

Version: 1.0
ID: urn:jaus:jss:manipulator:ManipulatorJointPositionDriver
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

Description:
The function of the Joint Position Driver is to perform closed-loop joint position control. A single target is provided via the Set Joint Position message. The target remains unchanged until a new Set Joint Position message is received. 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 Joint Position" message is sent.

Internal Event Set
None


Message Set
Message ID Name
2608h QueryCommandedJointPosition
2607h QueryJointMotionProfile
2600h QueryManipulatorSpecifications
4608h ReportCommandedJointPosition
4607h ReportJointMotionProfile
0607h SetJointMotionProfile
0602h SetJointPosition

State Machine Diagram

ManipulatorJointPositionDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B JointPositionDriverControlledLoop SetJointMotionProfile isControllingClient setJointMotionProfile
A JointPositionDriverDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryJointMotionProfile motionProfileExists sendReportJointMotionProfile
QueryCommandedJointPosition sendReportCommandedJointPosition
C JointPositionDriverReadyLoop SetJointPosition isControllingClient && motionProfileExists setJointPosition


Actions
Action Name Type Description
sendReportCommandedJointPosition Send Action Send a Report Commanded Joint Position message
Output Message: ReportCommandedJointPosition
sendReportJointMotionProfile Send Action Send a Report Motion Profile message
Output Message: ReportJointMotionProfile
sendReportManipulatorSpecifications Send Action Send a report manipulator specs message
Output Message: ReportManipulatorSpecifications
setJointMotionProfile Set the joint motion profile parameters for the manipulator.
setJointPosition Set the joint positions for the manipulator. The manipulator joints move accordingly
stopMotion Exit Action



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