ReportManipulatorSpecifications

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 / ReportManipulatorSpecifications

Message ReportManipulatorSpecifications

Message ID: 4600h

Description:
This message provides the specifications of the manipulator including the number of joints, the link length and twist angle of each link, the joint offset (for revolute joints) or joint angle (for prismatic joints), the minimum and maximum value for each joint, and the minimum and maximum speed for each joint.

ReportManipulatorSpecifications

ManipulatorCoordinateSystemRec

FirstJointParameters

JointSpecificationList

JointSpecifications

JointNamesList

Message Format
Field #	Field	Type	Units	Optional	Interpretation
1	Presence Vector	Unsigned Byte	one	false	Bit 0: ManipulatorCoordinateSystemRec
2	ManipulatorCoordinateSystemRec	Record		true
3	FirstJointParameters	Variant	varies	false
4	JointSpecificationList	List		false
5	JointNamesList	List		false

ManipulatorCoordinateSystemRec
Field #	Field	Type	Units	Optional	Interpretation
1	ManipulatorCoordinateSysX	Scaled Integer Integer Size: Unsigned Integer	units meter	false	x coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system Real Lower Limit: -30.0 Real Upper Limit: 30.0
2	ManipulatorCoordinateSysY	Scaled Integer Integer Size: Unsigned Integer	units meter	false	y coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system Real Lower Limit: -30.0 Real Upper Limit: 30.0
3	ManipulatorCoordinateSysZ	Scaled Integer Integer Size: Unsigned Integer	units meter	false	z coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system Real Lower Limit: -30.0 Real Upper Limit: 30.0
4	DComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system Real Lower Limit: -1.0 Real Upper Limit: 1.0
5	AComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system Real Lower Limit: -1.0 Real Upper Limit: 1.0
6	BComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system Real Lower Limit: -1.0 Real Upper Limit: 1.0
7	CComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system Real Lower Limit: -1.0 Real Upper Limit: 1.0

FirstJointParameters
Type Enum Size: Unsigned Byte
Enum Value	Name	Type	Units	Optional	Interpretation
0	RevoluteJoint1OffsetRec	Record		false
1	PrismaticJoint1AngleRec	Record		false

RevoluteJoint1OffsetRec
Field #	Field	Type	Units	Optional	Interpretation
1	Presence Vector	Unsigned Byte	one	false	Bit 0: RevoluteJoint1MinValue Bit 1: RevoluteJoint1MaxValue Bit 2: RevoluteJoint1MaxSpeed Bit 3: RevoluteJoint1MaxTorque Bit 4: OffsetBoundingCylinderRadius
2	RevoluteJoint1Offset	Scaled Integer Integer Size: Unsigned Short	units meter	false	Real Lower Limit: -10.0 Real Upper Limit: 10.0
3	RevoluteJoint1MinValue	Scaled Integer Integer Size: Unsigned Integer	units radians	true	Real Lower Limit: -25.132741228718345 Real Upper Limit: 25.132741228718345
4	RevoluteJoint1MaxValue	Scaled Integer Integer Size: Unsigned Integer	units radians	true	Real Lower Limit: -25.132741228718345 Real Upper Limit: 25.132741228718345
5	RevoluteJoint1MaxSpeed	Scaled Integer Integer Size: Unsigned Integer	units radians per second	true	Real Lower Limit: 0.0 Real Upper Limit: 31.41592653589793
6	RevoluteJoint1MaxTorque	Scaled Integer Integer Size: Unsigned Integer	units newton meter	true	Real Lower Limit: 0.0 Real Upper Limit: 5000.0
7	OffsetBoundingCylinderRadius	Scaled Integer Integer Size: Unsigned Short	units meter	true	The radius of an imaginary bounding cylinder whose length lies along the joint offset axis. Real Lower Limit: 0.0 Real Upper Limit: 10.0

PrismaticJoint1AngleRec
Field #	Field	Type	Units	Optional	Interpretation
1	Presence Vector	Unsigned Byte	one	false	Bit 0: PrismaticJoint1MaxSpeed Bit 1: PrismaticJoint1MaxForce Bit 2: JointBoundingCylinderRadius
2	PrismaticJoint1Angle	Scaled Integer Integer Size: Unsigned Short	units radians	false	Real Lower Limit: -3.141592653589793 Real Upper Limit: 3.141592653589793
3	PrismaticJoint1MinValue	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -10.0 Real Upper Limit: 10.0
4	PrismaticJoint1MaxValue	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -10.0 Real Upper Limit: 10.0
5	PrismaticJoint1MaxSpeed	Scaled Integer Integer Size: Unsigned Integer	units meters per second	true	Real Lower Limit: -5.0 Real Upper Limit: 5.0
6	PrismaticJoint1MaxForce	Scaled Integer Integer Size: Unsigned Integer	units newton	true	Real Lower Limit: 0.0 Real Upper Limit: 5000.0
7	JointBoundingCylinderRadius	Scaled Integer Integer Size: Unsigned Short	units meter	true	The radius of an imaginary bounding cylinder whose length lies along the joints moving axis. Real Lower Limit: 0.0 Real Upper Limit: 10.0

JointSpecificationList
Count Field: Unsigned Byte
Field #	Field	Type	Units	Optional	Interpretation
1	JointSpecifications	Variant	varies	false

JointSpecifications
Type Enum Size: Unsigned Byte
Enum Value	Name	Type	Units	Optional	Interpretation
0	RevoluteJointSpecificationRec	Record		false
1	PrismaticJointSpecificationRec	Record		false

RevoluteJointSpecificationRec
Field #	Field	Type	Units	Optional	Interpretation
1	Presence Vector	Unsigned Byte	one	false	Bit 0: RevoluteJointMinValue Bit 1: RevoluteJointMaxValue Bit 2: RevoluteJointMaxSpeed Bit 3: RevoluteJointMaxTorque Bit 4: OffsetBoundingCylinderRadius Bit 5: LinkLengthBoundingCylinderRadius
2	LinkLength	Scaled Integer Integer Size: Unsigned Short	units meter	false	Link Length Real Lower Limit: -10.0 Real Upper Limit: 10.0
3	TwistAngle	Scaled Integer Integer Size: Unsigned Short	units radians	false	Twist Angle Real Lower Limit: -3.141592653589793 Real Upper Limit: 3.141592653589793
4	JointOffset	Scaled Integer Integer Size: Unsigned Short	units meter	false	Joint Offset Real Lower Limit: -10.0 Real Upper Limit: 10.0
5	RevoluteJointMinValue	Scaled Integer Integer Size: Unsigned Integer	units radians	true	Real Lower Limit: -25.132741228718345 Real Upper Limit: 25.132741228718345
6	RevoluteJointMaxValue	Scaled Integer Integer Size: Unsigned Integer	units radians	true	Real Lower Limit: -25.132741228718345 Real Upper Limit: 25.132741228718345
7	RevoluteJointMaxSpeed	Scaled Integer Integer Size: Unsigned Integer	units radians per second	true	Real Lower Limit: 0.0 Real Upper Limit: 31.41592653589793
8	RevoluteJointMaxTorque	Scaled Integer Integer Size: Unsigned Integer	units newton meter	true	Real Lower Limit: 0.0 Real Upper Limit: 5000.0
9	OffsetBoundingCylinderRadius	Scaled Integer Integer Size: Unsigned Short	units meter	true	The radius of an imaginary bounding cylinder whose length lies along the joint offset axis. Real Lower Limit: 0.0 Real Upper Limit: 10.0
10	LinkLengthBoundingCylinderRadius	Scaled Integer Integer Size: Unsigned Short	units meter	true	The radius of an imaginary bounding cylinder whose length lies along the link length axis. Real Lower Limit: 0.0 Real Upper Limit: 10.0

PrismaticJointSpecificationRec
Field #	Field	Type	Units	Optional	Interpretation
1	Presence Vector	Unsigned Byte	one	false	Bit 0: PrismaticJointMaxSpeed Bit 1: PrismaticJointMaxTorque Bit 2: JointBoundingCylinderRadius Bit 3: LinkLengthBoundingCylinderRadius
2	LinkLength	Scaled Integer Integer Size: Unsigned Short	units meter	false	Link Length Real Lower Limit: -10.0 Real Upper Limit: 10.0
3	TwistAngle	Scaled Integer Integer Size: Unsigned Short	units radians	false	Real Lower Limit: -3.141592653589793 Real Upper Limit: 3.141592653589793
4	JointAngle	Scaled Integer Integer Size: Unsigned Short	units radians	false	Real Lower Limit: -3.141592653589793 Real Upper Limit: 3.141592653589793
5	PrismaticJointMinValue	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -10.0 Real Upper Limit: 10.0
6	PrismaticJointMaxValue	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -10.0 Real Upper Limit: 10.0
7	PrismaticJointMaxSpeed	Scaled Integer Integer Size: Unsigned Integer	units meters per second	true	Real Lower Limit: 0.0 Real Upper Limit: 5.0
8	PrismaticJointMaxTorque	Scaled Integer Integer Size: Unsigned Integer	units newton meter	true	Real Lower Limit: 0.0 Real Upper Limit: 5000.0
9	JointBoundingCylinderRadius	Scaled Integer Integer Size: Unsigned Short	units meter	true	The radius of an imaginary bounding cylinder whose length lies along the joints moving axis. Real Lower Limit: 0.0 Real Upper Limit: 10.0
10	LinkLengthBoundingCylinderRadius	Scaled Integer Integer Size: Unsigned Short	units meter	true	The radius of an imaginary bounding cylinder whose length lies along the link length axis. Real Lower Limit: 0.0 Real Upper Limit: 10.0

JointNamesList
Count Field: Unsigned Byte
Field #	Field	Type	Units	Optional	Interpretation
1	Description	VariableLengthString Count Size: Unsigned Byte	one	false	A human-readable string that can be used to label each joint on a user interface

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

Questions? Feedback?Olark live chat software