OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.
Home / Manipulator_v2_0ServiceSet / ManipulatorEndEffectorPoseDriver

ManipulatorEndEffectorPoseDriver

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

Description:
The function of the End Effector Pose Driver is to perform closed-loop position and orientation control of the tool tip. The input is the desired position and orientation of the end effector pose specified in the manipulator base coordinate system. It is assumed that the manipulator begins motion immediately after receiving the Set End Effector Pose message. 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, a Manipulator Tool Offset Service, and a Manipulator Joint Motion Profile Service.

Internal Event Set
None


Message Set
Message ID Name
2610h QueryCommandedEndEffectorPose
4610h ReportCommandedEndEffectorPose
0610h SetEndEffectorPose

State Machine Diagram

ManipulatorEndEffectorPoseDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorEndEffectorPoseDriverDefaultLoop QueryCommandedEndEffectorPose sendReportCommandedEndEffectorPose
B ManipulatorEndEffectorPoseDriverReadyLoop SetEndEffectorPose isControllingClient && motionProfileExists setEndEffectorPose


Actions
Action Name Type Description
sendReportCommandedEndEffectorPose Send Action Send a Report Commanded End Effector Pose message
Output Message: ReportCommandedEndEffectorPose
setEndEffectorPose Set the desired position and orientation for the manipulator end-effector
stopMotion Exit Action


OpenJAUS.com

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 as6057a-manipulator.ojss