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Home / Manipulator_v2_0ServiceSet / ManipulatorEndEffectorVelocityStateDriver

ManipulatorEndEffectorVelocityStateDriver

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorVelocityStateDriver
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 Velocity State Driver is to perform closed-loop velocity control of the tool tip. The velocity state of the tool tip is defined by two length-three vectors, i.e., �‰e and vtool,e. These vectors respectively represent the angular velocity of the end effector coordinate system and the linear velocity of the tool tip as measured with respect to the manipulator base coordinate system. It is assumed that the manipulator begins motion immediately after receiving the Set End Effector Velocity State 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
2612h QueryCommandedEndEffectorVelocityState
4612h ReportCommandedEndEffectorVelocityState
0612h SetEndEffectorVelocityState

State Machine Diagram

ManipulatorEndEffectorVelocityStateDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorEndEffectorVelocityStateDriverDefaultLoop QueryCommandedEndEffectorVelocityState sendReportCommandedEndEffectorVelocityState
B ManipulatorEndEffectorVelocityStateDriverReadyLoop SetEndEffectorVelocityState isControllingClient && motionProfileExists setEndEffectorVelocityState


Actions
Action Name Type Description
sendReportCommandedEndEffectorVelocityState Send Action Send a Report Commanded End effector velocity state message
Output Message: ReportCommandedEndEffectorVelocityState
setEndEffectorVelocityState Set the desired velocity state for the end-effector
stopMotion Exit Action


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