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Home / Manipulator_v2_0ServiceSet / PrimitiveManipulator

PrimitiveManipulator

Version: 2.0
ID: urn:jaus:jss:manipulator:PrimitiveManipulator
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:
This service is the low level interface to a manipulator arm. Motion of the arm is accomplished via the Set Joint Effort message. In this message, each actuator is commanded to move with a percentage of maximum effort. 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
2601h QueryJointEffort
4601h ReportJointEffort
0601h SetJointEffort

State Machine Diagram

PrimitiveManipulator State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PrimitiveManipulatorDefaultLoop QueryJointEffort sendReportJointEffort
B PrimitiveManipulatorReadyLoop SetJointEffort isControllingClient setJointEffort


Actions
Action Name Type Description
sendReportJointEffort Send Action Send a report joint efforts message
Output Message: ReportJointEffort
setJointEffort Set the joint motion efforts for the manipulator. The manipulator joints move accordingly


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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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