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Home / Manipulator_v2_0ServiceSet / ManipulatorJointPositionListDriver


Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorJointPositionListDriver
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

The function of the Joint Position List Driver is to perform closed-loop joint position control through a sequence of targets. The sequence of targets is specified by one or more SetElement messages, as defined by the List Manager Service. 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

Message Set
Message ID Name
2608h QueryCommandedJointPosition
4608h ReportCommandedJointPosition

State Machine Diagram

ManipulatorJointPositionListDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A JointPositionListDriverDefaultLoop ReportCommandedJointPosition targetExists sendReportCommandedJointPosition

Action Name Type Description
sendReportCommandedJointPosition Send Action Send a Report Commanded Joint Positions message
Output Message: ReportCommandedJointPosition

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Portions Copyright © OpenJAUS LLC.
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.

Generated on 07/17/2019 from as6057a-manipulator.ojss