ManipulatorEndEffectorPoseDriver
- URI: urn:jaus:jss:manipulator:ManipulatorEndEffectorPoseDriver
- Version: 2.0
- Inherits From: urn:jaus:jss:core:Management v1.1
Description
The function of the End Effector Pose Driver is to perform closed-loop position and orientation control of the tool tip. The input is the desired position and orientation of the end effector pose specified in the manipulator base coordinate system. It is assumed that the manipulator begins motion immediately after receiving the “Set End Effector Pose” message. 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, a Manipulator Tool Offset Service, and a Manipulator Joint Motion Profile Service.
Messages
The ManipulatorEndEffectorPoseDriver service uses the following messages.
Internal Events
- None