抄録
We are developing a robot system for power distribution line maintenance tasks. We analyzed switching gear installation tasks among the maintenance tasks and described task instruction sheets for the installation tasks with a robot language. We have developed a CG simulator to execute robot commands in task instruction sheets. In this paper, we describe a task instruction sheet for "Gripping arm tie on a tool box", a program function for the task command, and CG simulations. The robot can generated the trajectory and move the robot arms for "Gripping arm tie on a tool box" in CG space.
