A robot controller for power distribution line maintenance robot working by task-level command

Abstract

We are currently developing a power distribution line maintenance robot. This robot works using task-level commands such as "grasp the bolt on the toolbox." The aim of this development is to reduce the load on workers manually performing such power distribution maintenance tasks. We propose a system architecture for the robot controller to facilitate the development of this robot. This paper describes the framework of the proposed controller architecture, some controller source/pseudo code written in C language, and several task performance experiments.