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Home / ManipulatorServiceSet / ManipulatorJointPositionListDriver


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

The function of the Joint Position List Driver is to perform closed-loop joint position control through a sequence of targets. 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

Message Set
Message ID Name
061Eh ExecuteList
261Eh QueryActiveElement
2608h QueryCommandedJointPosition
2607h QueryJointMotionProfile
2600h QueryManipulatorSpecifications
461Eh ReportActiveElement
4608h ReportCommandedJointPosition
4607h ReportJointMotionProfile
0607h SetJointMotionProfile

State Machine Diagram

ManipulatorJointPositionListDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B JointPositionListDriverControlledLoop SetJointMotionProfile isControllingClient setJointMotionProfile
A JointPositionListDriverDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryJointMotionProfile motionProfileExists sendReportJointMotionProfile
QueryActiveElement sendReportActiveElement
QueryCommandedJointPosition targetExists sendReportCommandedJointPosition
C JointPositionListDriverReadyLoop ExecuteList isControllingClient && ( elementExists && motionProfileExists ) executeTargetList

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
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
setElement Store the given targets(s) in the target list with sequence specified by the previous and next element UIDs. If this action represents an insert or append into an existing list, the service should modify the NextUID of the previous element and/or the PreviousUID of the next element to reflect the updated sequence
setJointMotionProfile Set the joint motion profile parameters for the manipulator.
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