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Home / ManipulatorServiceSet / ManipulatorJointVelocityDriver

ManipulatorJointVelocityDriver

Version: 1.0
ID: urn:jaus:jss:manipulator:ManipulatorJointVelocityDriver
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 Velocity Driver is to perform closed-loop joint velocity control. The input is the desired instantaneous desired joint velocities. 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 VELOCITY" message is sent. It is assumed that the manipulator begins motion immediately after receiving the "SET JOINT VELOCITY" message.

Internal Event Set
None


Message Set
Message ID Name
2611h QueryCommandedJointVelocity
2607h QueryJointMotionProfile
2600h QueryManipulatorSpecifications
4611h ReportCommandedJointVelocity
4607h ReportJointMotionProfile
0607h SetJointMotionProfile
0603h SetJointVelocity

State Machine Diagram

ManipulatorJointVelocityDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B JointVelocityDriverControlledLoop SetJointMotionProfile isControllingClient setJointMotionProfile
A JointVelocityDriverDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications
QueryJointMotionProfile motionProfileExists sendReportJointMotionProfile
QueryCommandedJointVelocity sendReportCommandedJointVelocity
C JointVelocityDriverReadyLoop SetJointVelocity isControllingClient && motionProfileExists setJointVelocity


Actions
Action Name Type Description
sendReportCommandedJointVelocity Send Action Send a Report Commanded joint velocity message
Output Message: ReportCommandedJointVelocity
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.
setJointVelocity Set the desired velocities for the individual joints of the manipulator
stopMotion Exit Action



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