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.

The next generation "Mobile Hot-Line Work Robot" has been developed by Kyushu Electric Power Co., Inc. (KEPCO). It functions semi-automatically, remote-controlled from the vehicle mounted cabin on the ground. The operator follows work through camera eyes and gives direction when necessary. This model is the first step toward a fully self-controlled robot. The authors have succeeded in introducing this technology to the electric utility construction work field. It has been commonly understood that it is extremely difficult to introduce robotic techniques into this field. The robot will pave the way for a better work environment in the industry In addition, this technology may serve for improved working conditions within and outside of Japan not only for the electric power industry but also other fields, such as track maintenance work in the railroad industry.

This paper describes the design concepts and development outline of the semi-automatic hot-line work robot system, "Phase II" and its human-robot interface, "MOS" developed by the authors' company. In order to realize a high level of automation on hot-line work, reduce the operators' work load, and increase work efficiency, the authors have adapted a semi-automatic operation method with dual-armed manipulators and multi-operation system or "MOS" in "Phase II". The former is realized through two kinds of controlled motions: sensor model-based controlled motion and master-slave controlled motion. The latter is the system which integrates real images, characters, diagrams, and voice. This paper includes experimental results of work which certify the effectiveness of the robot system, which uses sensor model-based control and master-slave control jointly and also "MOS". "Phase II" can be roughly classified into these components; vehicles, booms, robot portions (using the 7-axis dual-armed manipulators), cameras, automatic tool changers (ATC), automatic material changers (AMC), and "MOS". The system organization such as this, the authors are convinced, is one of the basic systems for overhead work systems with mobility.