配電作業用ロボットにおける工具箱上のボルトの把持

抄録

A remotely operated power distribution line maintenance robot system is developed . This system will carry out basic maintenance tasks. For examples, “Grasp a bolt”, “Tighten a bolt”, “Tighten a nut” and so on. Previously, a power distribution line maintenance experimental robot system was built. This paper will perform a task performance test on the system's “Grasp the bolt on the tool box” task. The system grasps the bolt on tool box under visual feedback from the hand-eye camera. Applied visual feedback control does not require camera calibration and arm calibration because this visual feedback adjusts the bolt and the gripper in one image plane using the hand-eye camera.