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Home / Manipulator_v2_0ServiceSet / ManipulatorJointVelocityDriver

ManipulatorJointVelocityDriver

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorJointVelocityDriver
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 Velocity Driver is to perform closed-loop joint velocity control. The input is the desired instantaneous joint velocities. It is assumed that the manipulator begins motion immediately after receiving the "SET JOINT VELOCITY" 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 and a Manipulator Joint Motion Profile Service.

Internal Event Set
None


Message Set
Message ID Name
2611h QueryCommandedJointVelocity
4611h ReportCommandedJointVelocity
0603h SetJointVelocity

State Machine Diagram

ManipulatorJointVelocityDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorJointVelocityDriverDefaultLoop QueryCommandedJointVelocity sendReportCommandedJointVelocity
B ManipulatorJointVelocityDriverReadyLoop SetJointVelocity isControllingClient && motionProfileExists setJointVelocity


Actions
Action Name Type Description
sendReportCommandedJointVelocity Send Action Send a Report Commanded joint velocities message
Output Message: ReportCommandedJointVelocity
setJointVelocity Set the desired velocities for the individual joints of 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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