The control architecture of the AMADEUS gripper

Abstract

Some fundamental issues are presented related to the design and implementation aspects of advanced control techniques for robotic systems; extension and application to controlling the AMADEUS gripper, which is a special underwater device developed at the Heriot-Watt University of Edinburgh, are shown. Control objectives have been achieved through the application of the so-called Task-Function concept. This theory allows one to specify a complete task level closed loop hierarchical control architecture, and provides important guidelines for the implementation of actual task based control systems for robots.