International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Flexible Docking Mechanism with Error-Compensation Capability for Auto Recharging System of Mobile Robot

  • Roh, Se-Gon (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Park, Jae-Hoon (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Lee, Young-Hoon (Mechatronics & Manufacturing Technology Center, Samsung Co., Ltd.) ;
  • Song, Young-Kouk (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Yang, Kwang-Woong (Division of Applied Robot Technology, Korea Institute of Industrial Technology) ;
  • Choi, Moo-Sung (Division of Applied Robot Technology, Korea Institute of Industrial Technology) ;
  • Kim, Hong-Seok (Division of Applied Robot Technology, Korea Institute of Industrial Technology) ;
  • Lee, Ho-Gil (Division of Applied Robot Technology, Korea Institute of Industrial Technology) ;
  • Choi, Hyouk-Ryeol (School of Mechanical Engineering, Sungkyunkwan University)
  • Published : 2008.10.31
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Abstract

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

Keywords

References

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