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Home / Manipulator_v2_0ServiceSet / ManipulatorEndEffectorVelocityStateSensor


Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorEndEffectorVelocityStateSensor
Inherits From:
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 End Effector Velocity State Sensor is to report the velocity state of the tool tip as defined by two length-three vectors, i.e., ? and vtool. 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. 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 and a Manipulator Tool Offset Service.

Internal Event Set

Message Set
Message ID Name
2616h QueryEndEffectorVelocityState
4616h ReportEndEffectorVelocityState

State Machine Diagram

ManipulatorEndEffectorVelocityStateSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorEndEffectorVelocityStateSensorDefaultLoop QueryEndEffectorVelocityState sendReportEndEffectorVelocityState

Action Name Type Description
sendReportEndEffectorVelocityState Send Action Send a report end effector velocity state message
Output Message: ReportEndEffectorVelocityState

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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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