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Home / ManipulatorServiceSet / ManipulatorJointPositionSensor


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

The function of the Joint Position Sensor Service is to report the values of manipulator joint parameters when queried.

Internal Event Set

Message Set
Message ID Name
2602h QueryJointPosition
2600h QueryManipulatorSpecifications
4602h ReportJointPosition

State Machine Diagram

ManipulatorJointPositionSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A JointPositionSensorDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryJointPosition sendReportJointPosition

Action Name Type Description
sendReportJointPosition Send Action Send Report Joint Position message to the service that sent the query
Output Message: ReportJointPosition
sendReportManipulatorSpecifications Send Action Send a report manipulator specs message
Output Message: ReportManipulatorSpecifications

Copyright © SAE International. Reprinted with Permission.
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