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Home / Manipulator_v2_0ServiceSet / ManipulatorJointPositionDriver

ManipulatorJointPositionDriver

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorJointPositionDriver
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 Joint Position Driver is to perform closed-loop joint position control. A single target is provided via the Set Joint Position message. The target remains unchanged until a new Set Joint Position message is received. 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 Joint Motion Profile Service.

Internal Event Set
None


Message Set
Message ID Name
2608h QueryCommandedJointPosition
4608h ReportCommandedJointPosition
0602h SetJointPosition

State Machine Diagram

ManipulatorJointPositionDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorJointPositionDriverDefaultLoop QueryCommandedJointPosition sendReportCommandedJointPosition
B ManipulatorJointPositionDriverReadyLoop SetJointPosition isControllingClient && motionProfileExists setJointPosition


Actions
Action Name Type Description
sendReportCommandedJointPosition Send Action Send a Report Commanded Joint Positions message
Output Message: ReportCommandedJointPosition
setJointPosition Set the desired joint values for the manipulator.
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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