抄録
We are developing a semi-autonomous robot system for power distribution line maintenance works. The robot system autonomously performs primary tasks, for example "Insert the bolt" to reduce the load on operators. The system is multi agent system which constructs 6 agents and 2 databases. The robot executes to read a work sequence is written by task level. Approach method is to measure 3 dimension position of work object by a camera. This time, we have detected the edge of a line segment from the image captured bolts on a cross arm using flash. We estimated the position and posture by matching the edges of the model it.
