ManipulatorJointPositionDriver

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

Description

The function of the Joint Position Driver is to perform closed-loop joint position control. A single target is provided via the Set Joint Position message. The target remains unchanged until a new Set Joint Position message is received. 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 and a Manipulator Joint Motion Profile Service.

Messages

The ManipulatorJointPositionDriver service uses the following messages.

Input

• 0x2608 - QueryCommandedJointPositions
• 0x0602 - SetJointPositions

Output

• 0x4608 - ReportCommandedJointPositions

Internal Events

• None