ManipulatorJointVelocityDriver
- URI: urn:jaus:jss:manipulator:ManipulatorJointVelocityDriver
- Version: 2.0
- Inherits From: urn:jaus:jss:core:Management v1.1
Description
The function of the Joint Velocity Driver is to perform closed-loop joint velocity control. The input is the desired instantaneous joint velocities. It is assumed that the manipulator begins motion immediately after receiving the “SET JOINT VELOCITY” 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 and a Manipulator Joint Motion Profile Service.
Messages
The ManipulatorJointVelocityDriver service uses the following messages.
Internal Events
- None