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Home / Manipulator_v2_0ServiceSet / SetEndEffectorPose

Message SetEndEffectorPose

Message ID: 0610h

Description:
This message defines the desired end-effector position and orientation. The coordinates of the tool point are defined in terms of the vehicle coordinate system. The orientation of the end-effector is defined by a unit quaternion (d ; a, b, c) which specifies the axis and angle of rotation that was used to establish the orientation of the end-effector coordinate system with respect to the vehicle coordinate system.

Message Format
Field # Field Type Units Optional Interpretation
1 ToolPointCoordinateX Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
2 ToolPointCoordinateY Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
3 ToolPointCoordinateZ Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
4 DComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0
5 AComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0
6 BComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0
7 CComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0


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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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