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



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