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Home / Manipulator_v2_0ServiceSet / ManipulatorJointForceTorqueSensor

ManipulatorJointForceTorqueSensor

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorJointForceTorqueSensor
Inherits From:
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

Description:
The function of the Joint Force/Torque Sensor is to report the values of instantaneous torques (for revolute joints) and forces (for prismatic joints) that are applied at the individual joints of the manipulator kinematic model when queried. 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.

Internal Event Set
None


Message Set
Message ID Name
2605h QueryJointForceTorque
4605h ReportJointForceTorque

State Machine Diagram

ManipulatorJointForceTorqueSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorJointForceTorqueSensorDefaultLoop QueryJointForceTorque sendReportJointForceTorque


Actions
Action Name Type Description
sendReportJointForceTorque Send Action Send Report Joint Force Torques message to the service that sent the query
Output Message: ReportJointForceTorque


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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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