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0x0610 - SetEndEffectorPose

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.

Structure

SetEndEffectorPose
 EndEffectorPoseRec

EndEffectorPoseRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 ToolPointCoordinateX uint32 meter false
2 ToolPointCoordinateY uint32 meter false
3 ToolPointCoordinateZ uint32 meter false
4 DComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
5 AComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
6 BComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
7 CComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system