Articulated Arm

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Articulated Arm

Generic Articulated Arm

The Generic Articulated Arm service supports operations for the control of an articulated arm, including the pose (position and orientation) of its joints and end effector. An end effector is the endpoint of an arm, typically a tool or gripper.

The operations supported by the Generic Articulated Arm service include:

ArticulatedArmReplaceChanges the state of the arm or indicates when the arm's state as changed.
GetReturns the current state of the arm.
GetEndEffectorPoseReturns the end effector position and orientation.
SetEndEffectorPoseSets the end effector position and orientation (changing the joints as necessary).
SetJointTargetPoseSets a joint ending position and orientation for a single joint.
SetJointTargetVelocitySets the velocity for a single joint.

ArticulatedArmReplace, SetEndEffectorPose, SetJointTargetPose, and SetJointTargetVelocity are provided as requests (actions) so you can use them to set the pose of its parts. They are also available as notifications that provide updates when a joint or end effector's state changes.

ArticulatedArmReplace returns the set of joints of the arm (Joints) and its end effector pose (EndEffectorPose).

Pose is defined by Position and Orientation. Position is specified by three dimensions, X, Y, and Z coordinates (floating point values). Orientation refers to the direction that the joint or end effector is facing and is defined by four dimensions, X, Y, Z, and W (also known as a quaternion).

Updated information might be available online in the MSDN Library page:
Articulated Arm

Robotics Common: Robotics Common Overview



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