| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a working system for overhead distribution line to guide and operate a manipulator safely by suppressing increase in weight at the distal end of a boom and enhancing the operability. <P>SOLUTION: In the working system 3 for overhead distribution line comprising a cabin 2, a manipulator 31 fixed to the cabin 2 and having a distal end to which a plurality of interchangeable work tools 34 can be attached through a force sensor 32, and a controller 38 for controlling operation of the manipulator 31 wherein an operator H in the cabin 2 performs work of overhead electric line by operating the manipulator 31, the controller 38 comprises a section generating an operation command for operating the manipulator 31 in the direction of an external force detected by the force sensor 32 through impedance control, and the operation command generating section is provided with a section for extracting only the force applied to the work tool 34 by the operator H from the output of the force sensor 32. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
