ManipulatorActuatorForceTorqueDriver

• URI: urn:jaus:jss:manipulator:ManipulatorActuatorForceTorqueDriver
• Version: 2.0
• Inherits From: urn:jaus:jss:core:Management v1.1

Description

The function of the Actuator Force/Torque Driver is to perform closed-loop force control (for a prismatic actuator) and closed-loop torque control (for a revolute actuator). 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.

Messages

The ManipulatorActuatorForceTorqueDriver service uses the following messages.

Input

• 0x2613 - QueryCommandedActuatorForceTorques
• 0x0613 - SetActuatorForceTorques

Output

• 0x4613 - ReportCommandedActuatorForceTorques

Internal Events

• None