Development of a robot language for hot-line work allowing practical use of the hot-line work robot system 'Phase II'

Abstract

We are developing the robot system Phase II, which executes various hot-line work for equipment, such as poles and overhead lines, charged at high voltages (AC 6.6 kV/22 kV). The Phase II is designed to be a human-cooperative semi-automatic system which performs tasks through a combination of sensor-based controlled motion and auxiliary operation, facilitated by the operator's use of joysticks. As of the present, seven Phase II prototype units have been developed. Verification of various work and expansion of applied task programs are in progress with the aim of practical utilization in the immediate future. This paper describes the design concept and developmental outline of a recently developed robot language for hot-line work. The language adopts conventional task language used by distribution workers, the users of the system, to make it easily understandable. Regarding series of basic motions which require the system's contact with other objects, it has become necessary to set up special parameters including compliance damping and other factors. We have defined routine motion as a set, making such sets macro-commands. Through their use, task programs may be described with fewer parameters at the task-oriented level. Practical use of the robot system will require end-users to effectively work in both the task planning and the task execution stages. The language was developed with this in mind.