ManipulatorJointForceTorqueSensor
- URI: urn:jaus:jss:manipulator:ManipulatorJointForceTorqueSensor
- Version: 2.0
- Inherits From: urn:jaus:jss:core:Events v1.1
Description
The function of the Joint Force/Torque Sensor is to report the values of instantaneous torques (for revolute joints) and forces (for prismatic joints) that are applied at the individual joints of the manipulator kinematic model when queried. 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 ManipulatorJointForceTorqueSensor service uses the following messages.
Internal Events
- None