CG simulator for a semi-autonomous remote power distribution line maintenance robot-installation of a transformer

We are developing a semi-autonomous remote maintenance robot for power distribution line maintenance tasks. The system is operated by task instructions: for examples, “Peel electric cable”, “Remove the insulator” and so on. When the system receives a task instruction, it measures the task object position; modifies the arm positions in the move commands; and then performs the task. In this paper, we will introduce the improved CG simulator and CG simulation of the task performance about handling large object such as the switchgear. By the improved CG simulator, we verified to perform the task on handling large object such as the switchgear.