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【范围】
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The primary goal of the JAUS Manipulator Service Set is logical interoperability between communicating elements in an
unmanned system. To this end, each service defines the messages (vocabulary) and protocol (rules) for data exchange.
This logical interoperability is independent of the physical transport, and it is expected that a Transport Standard, such as
the JAUS/SDP Transport Specification [AS5669], is used in conjunction with this specification.
Each service in the JAUS Manipulator Service Set can be described using the JAUS Service Interface Definition
Language [JSIDL]. JSIDL creates a formal schema based on Relax NG Compact [rng] that allows for validation of each
service definition described herein. Although knowledge of JSIDL is not required to understand or implement this
Specification, it is highly recommended for supporting context. For convenience, the JAUS Manipulator Service Set
contains both a text based and XML based representation for each service.
The AS6057 Standard does not replace the latest JAUS Reference Architecture Version 3.3 [RA33P1, RA33P2,
RA33P3], but is a direct evolution of that work. This Standard has been carefully designed to allow for the simplest
possible migration of RA 3.3 implementations to a services-based framework. Even though the notion of services has
come to define formal interfaces between components, the message sets in those services trace back to identical
messages in the Reference Architecture.
This document uses a number of conventions to simplify the text. All names are given in Camel Case. Names start with
upper case, while reference names start with a lower case.
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 the platform-independent capabilities commonly found
across all domains and types of unmanned systems. At present, nineteen (19) 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 manipula-
tor 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:
Primitive Manipulator Service
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:
Manipulator Joint Position Sensor Service
Manipulator Joint Velocity Sensor Service
Manipulator Joint Force/Torque Sensor Service
Manipulator End Effector Pose Sensor Service
Manipulator End Effector Velocity State Sensor Service
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:
Manipulator Joint Position Driver Service
Manipulator Joint Position List Driver Service
Manipulator End Effector Pose Driver Service
Manipulator End Effector Pose List Driver Service
Manipulator Joint Velocity Driver Service
Manipulator End Effector Velocity State Driver Service
Manipulator Actuator Force/Torque Driver Service
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:
Primitive Pan Tilt Service
Pan Tilt Joint Position Sensor Service
Pan Tilt Joint Position Driver Service
Pan Tilt Joint Velocity Sensor Service
Pan Tilt Joint Velocity Driver Service
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:
Primitive End Effector Service
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].
1.2 JAUS Core Service Set
The JAUS Service Definitions defined herein make use of the inheritance functionality provided by JSIDL to incorporate
capabilities as specified by the JAUS Core Service Set (AS5710). These documents must be used together to define a
complete service. It is important to note that details related to ‘Message Serialization’ and ‘Understanding Protocol
Descriptions’ can be found in the JAUS Core Service Set document, and are not repeated here.
1.3 Compliance
The JAUS Manipulator Service Set must support compliance assessment. To do so, this specification must be sufficiently
precise to enable the “compliant”/”not compliant” distinction to be made independently of the underlying transport
mechanism. It is important to note that implementations are considered compliant to individual Service Definitions within
this Specification; it is not necessary that a single entity realize each service to be considered compliant.
1.4 Document Organization
The layout of this document is as follows. Section 2 lists external references used throughout the specification. Section 3
specifies common conventions and definitions. Section 4 specifies the JAUS Service Definition for each of the
manipulator services, with particular emphasis on the description, assumptions, message set, and protocol behavior.
Section 5 describes message encoding for each message set. Finally, Appendix A and Appendix B contain the complete
JSIDL representation for each service and their associated message set.
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