Earth ground: It's just what it sounds like. The electrical potential of the Earth. Pound a metal stake in the ground and it will be your terminal for Earth ground.
Chassis ground: The electrical potential of the frame or box that contains a device. Obviously it will be made of a conductive material. For a computer, it would be the case.
Signal ground: This one's a little trickier. It's an arbitrarily chosen (by the circuit designer) point in any given circuit assumed to have zero electrical potential (0 volts). It's useful for making measurements in a circuit.
The black lead of a power supply is typically the ground lead. In a schematic it's designated by the symbol that looks like an inverted "christmas tree".