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Home / Manipulator_v2_0ServiceSet / ManipulatorEndEffectorPoseListDriver

ManipulatorEndEffectorPoseListDriver

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorPoseListDriver
Inherits From:
extended byurn:jaus:jss:manipulator:ManipulatorListDriver v2.0
extended byurn:jaus:jss:mobility:ListManager v1.0
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 List Driver is to perform closed-loop control of a sequence of positions and orientations of the tool tip specified in the manipulator base coordinate system. The sequence of targets is specified by one or more SetElement messages, as defined by the List Manager Service [AS6009]. 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

State Machine Diagram

ManipulatorEndEffectorPoseListDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A EndEffectorPoseListDriverDefaultLoop ReportCommandedEndEffectorPose sendReportCommandedEndEffectorPose


Actions
Action Name Type Description
sendReportCommandedEndEffectorPose Send Action Send a Report Commanded End Effector Pose message
Output Message: ReportCommandedEndEffectorPose
stopMotion Exit Action


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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.

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