This paper describes a manipulation system integrating a geometric model and manipulation skills. The model provides the geometric structure and physical properties of the objects in the environment. The manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. The geometric modeler enables high level programming, using skill based task commands, for assembly tasks. Based on the model and skills, the system autonomously executes specified tasks. As a result of these features, robustness and reliability in remote task execution has been achieved.