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JAUS Manipulator Service Set
- Aerospace Standard
- AS6057A
- Reaffirmed
Downloadable datasets available
Annotation ability available
Sector:
Issuing Committee:
Language:
English
Scope
This document defines a set of standard application layer interfaces called JAUS Manipulator Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Manipulator Services represent platform-independent capabilities commonly found across domains and types of unmanned systems. At present, twenty-five (25) services are defined in this document. These services are categorized as:
Low Level Manipulator Control Services – The one service in this category allows for low-level command of the manipulator joint actuation efforts. This is an open-loop command that could be used in a simple tele-operation scenario. The service in this category is listed as follows:
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Primitive Manipulator Service
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Manipulator Sensor Services – These services, when queried, return instantaneous sensor data. Three services are defined that return respectively joint positions, joint velocities, and joint torques or forces. Two additional services return the end effector pose and velocity with respect to the manipulator base coordinate frame. The services in this category are listed as follows:
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Manipulator Joint Position Sensor Service
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Manipulator Joint Velocity Sensor Service
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Manipulator Joint Force/Torque Sensor Service
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Manipulator End Effector Pose Sensor Service
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Manipulator End Effector Velocity State Sensor Service
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Mid Level Position and Velocity Driver Services – These services take as inputs the desired joint positions, the desired joint velocities, the desired end effector pose, or the desired end effector velocity state. Closed-loop control is implied. The services in this category are listed as follows:
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Manipulator Joint Position Driver Service
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Manipulator Joint Position List Driver Service
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Manipulator End Effector Pose Driver Service
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Manipulator End Effector Pose List Driver Service
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Manipulator Joint Velocity Driver Service
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Manipulator End Effector Velocity State Driver Service
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Manipulator Actuator Force/Torque Driver Service
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Pan Tilt Driver Services –These services provide an interface to a specific pan tilt mechanism. The pan tilt mechanism is a two degree of freedom serial manipulator. It is comprised of two revolute joints whose axes intersect and are perpendicular. The services in this category are listed as follows:
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Primitive Pan Tilt Service
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Pan Tilt Joint Position Sensor Service
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Pan Tilt Joint Position Driver Service
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Pan Tilt Joint Velocity Sensor Service
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Pan Tilt Joint Velocity Driver Service
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End Effector Driver Services – This service provides an interface to a specific end effector. The end effector is a one-degree of freedom serial manipulator, usually mounted on the end of a n-degree of freedom serial manipulator. Examples include grippers, screw drivers, or other tools. The services in this category are listed as follows:
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Primitive End Effector Service
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Each service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language [JSIDL].
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Rationale
This document, the JAUS Manipulator Service Set (AS6057A), defines a message-passing interface for services commonly found in serial manipulator systems. These services represent the platform-independent capabilities common across all serial manipulator types. Additional capabilities are specified in the JAUS Core Service Set (AS5710) and are frequently referenced herein. The Revision A publication addresses several technical inconsistencies in the original document, including proper reference to Core 1.1 services and separation of overlapping input vocabularies, while addressing backward compatibility with existing implementations.
Recommended Content
| Aerospace Standard | JAUS Core Service Set |
| Aerospace Standard | JAUS HMI Service Set |
| Aerospace Standard | JAUS Environment Sensing Service Set |
Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 | ||
| Unnamed Dataset 2 | ||
| TABLE 1 | MANIPULATOR SPECIFICATION SERVICE VOCABULARY | |
| TABLE 4 | PRIMITIVE MANIPULATOR SERVICE VOCABULARY | |
| TABLE 5 | PRIMITIVE MANIPULATOR SERVICE TRANSITION TABLE | |
| TABLE 6 | PRIMITIVE MANIPULATOR SERVICE TRANSITION ACTIONS | |
| TABLE 7 | MANIPULATOR JOINT POSITION SENSOR SERVICE VOCABULARY | |
| TABLE 10 | MANIPULATOR JOINT VELOCITY SENSOR SERVICE VOCABULARY | |
| TABLE 13 | MANIPULATOR JOINT FORCE TORQUE SENSOR SERVICE VOCABULARY | |
| TABLE 16 | MANIPULATOR TOOL OFFSET SERVICE VOCABULARY | |
| TABLE 17 | MANIPULATOR TOOL OFFSET SERVICE TRANSITION TABLE | |
| TABLE 18 | MANIPULATOR TOOL OFFSET SERVICE TRANSITION ACTIONS | |
| TABLE 19 | MANIPULATOR END EFFECTOR POSE SENSOR SERVICE VOCABULARY | |
| TABLE 22 | MANIPULATOR END EFFECTOR VELOCITY STATE SENSOR SERVICE VOCABULARY | |
| TABLE 25 | MANIPULATOR JOINT MOTION PROFILE SERVICE VOCABULARY | |
| TABLE 26 | MANIPULATOR JOINT MOTION PROFILE SERVICE TRANSITION TABLE | |
| TABLE 27 | MANIPULATOR JOINT MOTION PROFILE SERVICE STATE CONDITIONS TABLE | |
| TABLE 28 | MANIPULATOR JOINT MOTION PROFILE SERVICE TRANSITION ACTIONS | |
| TABLE 29 | MANIPULATOR JOINT POSITION DRIVER SERVICE VOCABULARY | |
| TABLE 31 | MANIPULATOR JOINT POSITION DRIVER SERVICE TRANSITION TABLE | |
| TABLE 33 | MANIPULATOR JOINT POSITION DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 34 | MANIPULATOR JOINT POSITION LIST DRIVER SERVICE VOCABULARY | |
| TABLE 36 | MANIPULATOR JOINT POSITION LIST DRIVER SERVICE TRANSITION TABLE | |
| TABLE 37 | MANIPULATOR JOINT POSITION LIST DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 38 | MANIPULATOR JOINT POSITION LIST DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 39 | MANIPULATOR END EFFECTOR POSE DRIVER SERVICE VOCABULARY | |
| TABLE 41 | MANIPULATOR END EFFECTOR POSE DRIVER SERVICE TRANSITION TABLE | |
| TABLE 43 | MANIPULATOR END EFFECTOR POSE DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 44 | MANIPULATOR LIST DRIVER SERVICE VOCABULARY | |
| TABLE 46 | MANIPULATOR LIST DRIVER SERVICE TRANSITION TABLE | |
| TABLE 47 | MANIPULATOR LIST DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 48 | MANIPULATOR LIST DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 49 | MANIPULATOR END EFFECTOR POSE LIST DRIVER SERVICE VOCABULARY | |
| TABLE 51 | MANIPULATOR END EFFECTOR POSE LIST DRIVER SERVICE TRANSITION TABLE | |
| TABLE 52 | MANIPULATOR END EFFECTOR POSE LIST DRIVER SERVICE STATE CONDITIONS TABLE | |
| TABLE 53 | MANIPULATOR END EFFECTOR POSE LIST DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 54 | MANIPULATOR JOINT VELOCITY DRIVER SERVICE VOCABULARY | |
| TABLE 56 | MANIPULATOR JOINT VELOCITY DRIVER SERVICE TRANSITION TABLE | |
| TABLE 58 | MANIPULATOR JOINT VELOCITY DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 59 | MANIPULATOR END EFFECTOR VELOCITY STATE DRIVER SERVICE VOCABULARY | |
| TABLE 61 | MANIPULATOR END EFFECTOR VELOCITY STATE DRIVER SERVICE TRANSITION TABLE | |
| TABLE 63 | MANIPULATOR END EFFECTOR VELOCITY STATE DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 64 | MANIPULATOR ACTUATOR FORCE TORQUE DRIVER SERVICE VOCABULARY | |
| TABLE 65 | MANIPULATOR ACTUATOR FORCE TORQUE DRIVER SERVICE TRANSITION TABLE | |
| TABLE 66 | MANIPULATOR ACTUATOR FORCE TORQUE DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 67 | PRIMITIVE PAN TILT SERVICE VOCABULARY | |
| TABLE 68 | PRIMITIVE PAN TILT SERVICE TRANSITION TABLE | |
| TABLE 69 | PRIMITIVE PAN TILT SERVICE TRANSITION ACTIONS | |
| TABLE 70 | PAN TILT JOINT POSITION SENSOR SERVICE VOCABULARY | |
| TABLE 73 | PAN TILT JOINT VELOCITY SENSOR SERVICE VOCABULARY | |
| TABLE 76 | PAN TILT JOINT POSITION DRIVER SERVICE VOCABULARY | |
| TABLE 78 | PAN TILT JOINT POSITION DRIVER SERVICE TRANSITION TABLE | |
| TABLE 80 | PAN TILT JOINT POSITION DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 81 | PAN TILT JOINT VELOCITY DRIVER SERVICE VOCABULARY | |
| TABLE 83 | PAN TILT JOINT VELOCITY DRIVER SERVICE TRANSITION TABLE | |
| TABLE 85 | PAN TILT JOINT VELOCITY DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 86 | PAN TILT SPECIFICATION SERVICE VOCABULARY | |
| TABLE 89 | PAN TILT MOTION PROFILE SERVICE VOCABULARY | |
| TABLE 90 | PAN TILT MOTION PROFILE SERVICE TRANSITION TABLE | |
| TABLE 92 | PAN TILT JOINT POSITION DRIVER SERVICE TRANSITION ACTIONS | |
| TABLE 93 | PRIMITIVE END EFFECTOR SERVICE VOCABULARY | |
| TABLE 94 | PRIMITIVE END EFFECTOR SERVICE TRANSITION TABLE | |
| TABLE 95 | PRIMITIVE END EFFECTOR SERVICE TRANSITION ACTIONS | |
| TABLE 96 | SET JOINT EFFORT MESSAGE ENCODING | |
| TABLE 97 | SET JOINT POSITION MESSAGE ENCODING | |
| TABLE 98 | SET JOINT VELOCITY MESSAGE ENCODING | |
| TABLE 99 | SET TOOL OFFSET MESSAGE ENCODING | |
| TABLE 100 | SET MOTION PROFILE MESSAGE ENCODING | |
| TABLE 101 | SET END EFFECTOR POSE MESSAGE ENCODING | |
| TABLE 102 | SET END EFFECTOR VELOCITY STATE MESSAGE ENCODING | |
| TABLE 103 | SET ACTUATOR FORCE TORQUES MESSAGE ENCODING | |
| TABLE 104 | EXECUTE LIST MESSAGE ENCODING | |
| TABLE 105 | SET PAN TILT JOINT EFFORT MESSAGE ENCODING | |
| TABLE 106 | SET PAN TILT JOINT POSITION MESSAGE ENCODING | |
| TABLE 107 | SET PAN TILT JOINT VELOCITY MESSAGE ENCODING | |
| TABLE 108 | SET PAN TILT MOTION PROFILE MESSAGE ENCODING | |
| TABLE 109 | SET END EFFECTOR EFFORT MESSAGE ENCODING | |
| TABLE 110 | QUERY MANIPULATOR SPECIFICATIONS MESSAGE ENCODING | |
| TABLE 125 | QUERY PAN TILT SPECIFICATIONS MESSAGE ENCODING | |
| TABLE 134 | REPORT MANIPULATOR SPECIFICATIONS MESSAGE ENCODING | |
| TABLE 148 | REPORT ACTIVE ELEMENT MESSAGE ENCODING | |
| TABLE 149 | REPORT PAN TILT SPECIFICATIONS MESSAGE ENCODING | |
| TABLE 156 | REPORT END EFFECTOR SPECIFICATION MESSAGE ENCODING |
Issuing Committee
AS-4JAUS Joint Architecture for Unmanned Systems Committee
The AS-4JAUS Technical Committee supports the charter of AS-4 (Unmanned Systems) by developing standards enabling external and internal interoperability between Unmanned Systems and their subsystems and payloads. JAUS employs a service oriented architecture approach, representing unmanned system capabilities as defined services with defined message-based interfaces. The standardization of these service and interface definitions facilitates the development of modular systems with increased interoperability; the use of standard services and their interfaces also facilitates rapid technology insertion.
Reference
| Number | Title |
|---|---|
| AIR5665 | Architecture Framework for Unmanned Systems |
| AS5669 | JAUS Transport Specification |
| AS5684 | JAUS Service Interface Definition Language |
| AS5710 | JAUS Core Service Set |
| AS6009 | JAUS Mobility Service Set |
| RA33P1 | This document is not part of the subscrption. |
| RA33P2 | This document is not part of the subscrption. |
| RA33P3 | This document is not part of the subscrption. |
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