This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.

Home / Manipulator_v2_0ServiceSet / ManipulatorSpecification


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

This service is used to describe a manipulator arm. When queried, the service will reply with a description of the manipulator's specification parameters, axes range of motion, and axes velocity limits. The notations used to describe these data are documented in many popular text books on robotics and were previously presented in Section 3. The mechanism specification parameters as reported by the Report Manipulator Specifications Message consist of the number of joints, the type of each joint (either revolute or prismatic), the link description parameters for each link (link length and twist angle as shown in Figure 2), the constant joint parameter value (offset for a revolute joint (see Figure 3), and joint angle for a prismatic joint (see Figure 4)). The minimum and maximum allowable value for each joint and the maximum velocity for each joint follow this information.

Internal Event Set

Message Set
Message ID Name
2600h QueryManipulatorSpecifications
4600h ReportManipulatorSpecifications

State Machine Diagram

ManipulatorSpecification State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ManipulatorSpecificationDefaultLoop QueryManipulatorSpecifications sendReportManipulatorSpecifications

Action Name Type Description
sendReportManipulatorSpecifications Send Action Send a Report Manipulator Specs message
Output Message: ReportManipulatorSpecifications

Copyright © SAE International. Reprinted with Permission.
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