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Home / ManipulatorServiceSet / SetEndEffectorPose

Message SetEndEffectorPose

Message ID: 0610h

Description:
This message defines the desired end-effector position and orientation. The coordinates of the tool point are defined in terms of the vehicle coordinate system. The orientation of the end-effector is defined by a unit quaternion (d ; a, b, c) which specifies the axis and angle of rotation that was used to establish the orientation of the end-effector coordinate system with respect to the vehicle coordinate system.

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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Generated on 09/11/2015 from AS6057-Manipulator.ojss