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.
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.