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Home / ManipulatorServiceSet / ReportManipulatorSpecifications

Message ReportManipulatorSpecifications

Message ID: 4600h

Description:
This message provides the specification of the manipulator including the number of joints, the link length and twist angle of each link, the joint offset (for revolute joints) or joint angle (for prismatic joints), the minimum and maximum value for each joint, and the minimum and maximum speed for each joint. The record ManipulatorCoordinateSystemRec establishes the position and orientation relationship of the manipulator base coordinate system to the vehicle coordinate system. It specifies the location (x,y,z) and orientation (described by the quaternion) of the manipulator coordinate system relative to the base coordinate system. The variant FirstJointParameters specifies the offset distance from the origin of the manipulator coordinate system to the first link axis (L1 in Figure 1) or the joint angle between the x-axis of the manipulator coordinate system and the line along the first link (?1 in Figure 1), depending on whether the first joint in JointSpecificationList is revolute or prismatic. The record RevoluteJointSpecificationRec specifies the link length and twist angle for a link and the joint offset for the revolute joint that comes after the link. The record PrismaticJointSpecificationRec specifies the link length and twist angle for a link and the joint angle for the prismatic joint that comes after the link. The order in which the joints are encoded into the list called JointSpecificationList must correspond with the order of the joints from the manipulator base to the end effector.

ReportManipulatorSpecifications
ManipulatorCoordinateSystemRec
FirstJointParameters
JointSpecificationList
JointSpecifications

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: ManipulatorCoordinateSystemRec
2 ManipulatorCoordinateSystemRec Record true
3 FirstJointParameters Variant varies false
4 JointSpecificationList List false


ManipulatorCoordinateSystemRec
Field # Field Type Units Optional Interpretation
1 ManipulatorCoordinateSysX Scaled Integer
Integer Size: Unsigned Integer
units meter false x coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system

Real Lower Limit: -30.0
Real Upper Limit: 30.0
2 ManipulatorCoordinateSysY Scaled Integer
Integer Size: Unsigned Integer
units meter false y coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system

Real Lower Limit: -30.0
Real Upper Limit: 30.0
3 ManipulatorCoordinateSysZ Scaled Integer
Integer Size: Unsigned Integer
units meter false z coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system

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


FirstJointParameters
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 RevoluteJoint1OffsetRec Record false
1 PrismaticJoint1AngleRec Record false


RevoluteJoint1OffsetRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: RevoluteJoint1MinValue
Bit 1: RevoluteJoint1MaxValue
Bit 2: RevoluteJoint1MaxSpeed
Bit 3: RevoluteJoint1MaxTorque
2 RevoluteJoint1Offset Scaled Integer
Integer Size: Unsigned Short
units meter false Joint Offset

Real Lower Limit: -10.0
Real Upper Limit: 10.0
3 RevoluteJoint1MinValue Scaled Integer
Integer Size: Unsigned Integer
units radians true Note: This field is omitted by using the presence vector for joints that can rotate continuously without limit.

Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
4 RevoluteJoint1MaxValue Scaled Integer
Integer Size: Unsigned Integer
units radians true Note: This field is omitted by using the presence vector for joints that can rotate continuously without limit.

Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
5 RevoluteJoint1MaxSpeed Scaled Integer
Integer Size: Unsigned Integer
units radians per second true Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
6 RevoluteJoint1MaxTorque Scaled Integer
Integer Size: Unsigned Integer
units newton meter true Real Lower Limit: 0.0
Real Upper Limit: 5000.0


PrismaticJoint1AngleRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: PrismaticJoint1MaxSpeed
Bit 1: PrismaticJoint1MaxForce
2 PrismaticJoint1Angle Scaled Integer
Integer Size: Unsigned Short
units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
3 PrismaticJoint1MinValue Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -10.0
Real Upper Limit: 10.0
4 PrismaticJoint1MaxValue Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -10.0
Real Upper Limit: 10.0
5 PrismaticJoint1MaxSpeed Scaled Integer
Integer Size: Unsigned Integer
units meters per second true Real Lower Limit: -5.0
Real Upper Limit: 5.0
6 PrismaticJoint1MaxForce Scaled Integer
Integer Size: Unsigned Integer
units newton true Real Lower Limit: 0.0
Real Upper Limit: 5000.0


JointSpecificationList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 JointSpecifications Variant varies false


JointSpecifications
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 RevoluteJointSpecificationRec Record false
1 PrismaticJointSpecificationRec Record false


RevoluteJointSpecificationRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: MinValue
Bit 1: MaxValue
Bit 2: MaxSpeed
Bit 3: MaxTorque
2 LinkLength Scaled Integer
Integer Size: Unsigned Short
units meter false Link Length

Real Lower Limit: -10.0
Real Upper Limit: 10.0
3 TwistAngle Scaled Integer
Integer Size: Unsigned Short
units radians false Twist Angle

Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
4 JointOffset Scaled Integer
Integer Size: Unsigned Short
units meter false Joint Offset

Real Lower Limit: -10.0
Real Upper Limit: 10.0
5 MinValue Scaled Integer
Integer Size: Unsigned Integer
units radians true Note: This field is omitted by using the presence vector for joints that can rotate continuously without limit.

Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
6 MaxValue Scaled Integer
Integer Size: Unsigned Integer
units radians true Note: This field is omitted by using the presence vector for joints that can rotate continuously without limit.

Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
7 MaxSpeed Scaled Integer
Integer Size: Unsigned Integer
units radians per second true Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
8 MaxTorque Scaled Integer
Integer Size: Unsigned Integer
units newton meter true Real Lower Limit: 0.0
Real Upper Limit: 5000.0


PrismaticJointSpecificationRec
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: MaxSpeed
Bit 1: MaxForce
2 LinkLength Scaled Integer
Integer Size: Unsigned Short
units meter false Link Length

Real Lower Limit: -10.0
Real Upper Limit: 10.0
3 TwistAngle Scaled Integer
Integer Size: Unsigned Short
units radians false Twist Angle

Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
4 JointAngle Scaled Integer
Integer Size: Unsigned Short
units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
5 MinValue Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -10.0
Real Upper Limit: 10.0
6 MaxValue Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -10.0
Real Upper Limit: 10.0
7 MaxSpeed Scaled Integer
Integer Size: Unsigned Integer
units meters per second true Real Lower Limit: -5.0
Real Upper Limit: 5.0
8 MaxForce Scaled Integer
Integer Size: Unsigned Integer
units newton true Real Lower Limit: 0.0
Real Upper Limit: 5000.0



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