Visual observation for hybrid intelligent control implementation

Addresses the problem of the design and implementation of a discrete event dynamic system (DEDS) observer for the execution of command sent to a robotic arm during grasping and screwing tasks of an assembly operation. The resulting robot arm mechanism is discussed as a hybrid intelligent system. It is argued that the nonintrusive observation mechanism offers reliability and robustness advantages over other sensor systems used to detect errors. The work has focused on the use of the DEDS linguistic approach for abstracting high-level knowledge concerning the current state of the machine in the presence of errors, mistakes, and uncertainties in the manipulation system