We are developing a semi-autonomous robot system for power distribution line maintenance works. The robot system autonomously performs primary tasks, for example "Tight the nut" to reduce the load on operators. The system is multi agent system which constructs 5 agents and 3 databases. Operators control the robot arm remotely by joystick. We measure the position and force at the tip of a tool while screwing a nut for bolt fixed on the steel cross arm and tightening it remotely. We develop initiative of robot arm orbit which we want, from the measured results.
