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Home / ManipulatorServiceSet / ReportEndEffectorPose

Message ReportEndEffectorPose

Message ID: 4615h

Description:
This message provides the receiver with the current pose of the end effector.

Message Format
Field # Field Type Units Optional Interpretation
1 ToolPointCoordinateX Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
2 ToolPointCoordinateY Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
3 ToolPointCoordinateZ Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
4 DComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
5 AComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
6 BComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
7 CComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0



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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