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Home / Manipulator_v2_0ServiceSet / ManipulatorActuatorForceTorqueDriver


Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorActuatorForceTorqueDriver
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

The function of the Actuator Force/Torque Driver is to perform closed-loop force control (for a prismatic actuator) and closed-loop torque control (for a revolute actuator). To ensure backward compatibility with 1.0 implementations of this service, it is recommended that this service be co-located on the same component as a Manipulator Specification Service.

Internal Event Set

Message Set
Message ID Name
2613h QueryCommandedActuatorForceTorque
4613h ReportCommandedActuatorForceTorque
0613h SetActuatorForceTorque

State Machine Diagram

ManipulatorActuatorForceTorqueDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorActuatorForceTorqueDriverDefaultLoop QueryCommandedActuatorForceTorque sendReportCommandedActuatorForceTorque
B ManipulatorActuatorForceTorqueDriverReadyLoop SetActuatorForceTorque isControllingClient setActuatorForceTorque

Action Name Type Description
sendReportCommandedActuatorForceTorque Send Action Send a Report Commanded Actuator Force Torque message
Output Message: ReportCommandedActuatorForceTorque
setActuatorForceTorque Set the desired actuator forces and torques

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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 07/17/2019 from as6057a-manipulator.ojss