THE CONTROL ARCHITECTURE OF THE AMADEUS GRIPPER

Some fundamental issues are presented related to the design and implem entation aspects of advanced control techniques for robotic systems, e xtension 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 t he application of the so-called Task-Function concept. This theory all ows one to specify a complete task level closed loop hierarchical cont rol architecture, and provides important guidelines for the implementa tion of actual task based control systems for robots.