자동충전 시스템을 위한 오차보정이 가능한 유연한 도킹 메커니즘

Flexible Docking Mechanism with Error-Compensation Capability for Auto Recharging System

The docking and recharging system for a mobile robot must guarantee the ability of the mobile robot to perform its tasks continuously without human intervention. In this paper, two docking mechanisms are proposed with localization error-compensation capability for the auto recharging system. Friction forces or magnetic forces are used between the docking parts of the docking module and those of the docking station. In addition, an auto recharging system is developed to control the power. Since the system is modularized, it can easily be adapted to other robots.