Task performance test on grasping the bolt by a power distribution line maintenance experimental robot system

Abstract

We have been developing a power distribution line maintenance robot system. This system will autonomously carry out basic tasks in the maintenance work. For examples, “Grasping a bolt”, “Inserting a bolt”, “Tightening a nut” and so on. We perform a task performance test “Grasp the bolt on the tool box”. 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.