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TECHNICAL PAPERS

Simplex Based Sliding Mode Control of an Underwater Gripper

[+] Author and Article Information
G. Bartolini

DIEE-Department of Electrical and Electronic Engineering, University of Cagliari, Piazza d’Armi, 09123 Cagliari, Italye-mail: giob@elettro1.unica.it

M. Coccoli, E. Punta

DIST-Department of Communication, Computer, and System Sciences, University of Genova, Via Opera Pia, 13 16145 Genova, Italy

J. Dyn. Sys., Meas., Control 122(4), 604-610 (Mar 10, 2000) (7 pages) doi:10.1115/1.1317233 History: Received March 10, 2000
Copyright © 2000 by ASME
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References

Utkin, V. I., 1992, Sliding Modes In Control And Optimization, Springer Verlag, Berlin.
Davies,  B. J., 1991, “Elephant Trunks, an Unforgettable Alternative to Rigid Mechanism,” Ind. Robot, 18, No. 4, pp. 29–30.
Goldstein, H., 1950, Classical Mechanics, Addison-Wesley Publishing Co., Reading, MA.
Murray, R. N., Li, Z., and Sastry, S. S., 1993, A Mathematical Introduction to Robotic Manipulation, CRC Press, NY.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1997, “Applications of a Sub-optimal Discontinuous Control Algorithm for Uncertain Second Order Systems,” Int. J. Robust Nonlinear Control, 7, No. 4, pp. 299–319.
Bartolini,  G., Ferrara,  A., and Usai,  E., 1997, “Output Tracking Control of Uncertain Nonlinear Second-Order Systems,” Automatica, 33, No. 12, pp. 2203–2212.
Bartolini,  G., and Ferrara,  A., 1996, “Multi-Input Sliding Mode Control of a Class of Uncertain Nonlinear Systems,” IEEE Trans. Autom. Control, 41, pp. 1662–1666.
Bartolini, G., Ferrara, A., Utkin, V. I., and Zolezzi, T., 1997, “A Control Vector Simplex Approach to Variable Structure Control of Nonlinear Systems,” Int. J. Robust Nonlinear Control.
Baida,  S. V., and Izosimov,  D. B., 1985, “Vector Method of Design of Sliding Motion and Simplex Algorithms,” Autom. Remote Control, 7, No. 46, pp. 830–837.

Figures

Grahic Jump Location
The structure of a single finger
Grahic Jump Location
The gripper manipulating an egg
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The gripper manipulating a shell in an underwater operation
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The AMADEUS gripper in its final release
Grahic Jump Location
The control bellows hydraulic circuit
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The coordinate frame for the finger
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The coordinate frames relevant to the rotation matrices
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Step response with filtering

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