The "Phase II", a semi-automatic hot-line work robot system being developed by Kyushu Electric Power Co. Inc. (KEPCO), is designed for overhead distribution facility work in an outdoor environment. The currently developed system is able to determine the position and orientation of work objects, is targeted to increase the work range to which the hot-line work robot system is applicable. The system employs two types of two-point range measuring (positioning measurement from two points) methods. One measures the range of objects with a laser. The other is based around positioning data from the manipulators. By means of these methods, the position and orientation of work objects may be determined. This paper outlines the achievements resulting from the automation of a portion of manipulator operations made possible through these two-point measuring methods. The manipulator was conventionally operated manually in the execution of hot-line work on flexible objects such as electric wires. Parallel motion commands were incorporated into the robot by upgrading task programs and improving tools and materials, bringing about dramatic reductions in work time.