ManipulatorJointMotionProfile

• URI: urn:jaus:jss:manipulator:ManipulatorJointMotionProfile
• Version: 2.0
• Inherits From: urn:jaus:jss:core:AccessControl v1.1

Description

The function of the Joint Motion Profile Service is to allow for configuration of the motion profile for all services co-located on this component. The Set Motion Profile message is used to set maximum velocity and acceleration rates for each of the joint parameters. All motions utilize the motion profile data that was most recently sent.

Messages

The ManipulatorJointMotionProfile service uses the following messages.

Input

• 0x2607 - QueryJointMotionProfile
• 0x0607 - SetJointMotionProfile

Output

• 0x4607 - ReportJointMotionProfile

Internal Events

• None