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Home / ManipulatorServiceSet / PrimitiveManipulator


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

This service is the low level interface to a manipulator arm. When queried, the service will reply with a description of the manipulatorís specification parameters, axes range of motion, and axes velocity limits.

Internal Event Set

Message Set
Message ID Name
2601h QueryJointEffort
2600h QueryManipulatorSpecifications
4601h ReportJointEffort
4600h ReportManipulatorSpecifications
0601h SetJointEffort

State Machine Diagram

PrimitiveManipulator State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PrimitiveManipulatorDefaultLoop QueryJointEffort sendReportJointEffort
QueryManipulatorSpecifications sendReportManipulatorSpecifications
B PrimitiveManipulatorReadyLoop SetJointEffort isControllingClient setJointEffort

Action Name Type Description
sendReportJointEffort Send Action Send a report joint effort message
Output Message: ReportJointEffort
sendReportManipulatorSpecifications Send Action Send a report manipulator specs message
Output Message: ReportManipulatorSpecifications
setJointEffort Set the joint motion efforts for the manipulator. The manipulator joints move accordingly

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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