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Home / Iop_v3ServiceSet / ManipulatorEndEffectorForceTorqueSensor


Version: 1.1
ID: urn:jaus:jss:iop:ManipulatorEndEffectorForceTorqueSensor
Inherits From:
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Manipulator End Effector Force Torque Sensor Service provides a means to get force or torque information from manipulator end effector. The data is reported in the End Effector Coordinate System, as defined in Section 3.2.3 of [AS6057].

Internal Event Set

Message Set
Message ID Name
D998h QueryManipulatorEndEffectorForceTorque
D999h ReportManipulatorEndEffectorForceTorque

State Machine Diagram

ManipulatorEndEffectorForceTorqueSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorEndEffectorForceTorqueSensorDefaultLoop QueryManipulatorEndEffectorForceTorque sendReportManipulatorEndEffectorForceTorque

Action Name Type Description
sendReportManipulatorEndEffectorForceTorque Send Action Send a Report ManipulatorEndEffectorForceTorque Capabilities message
Output Message: ReportManipulatorEndEffectorForceTorque

Copyright © SAE International. Reprinted with Permission.
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 iop_v3.ojss