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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)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.5, 2008 , pp. 731-739 More about this Journal
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
Auto recharging system; docking system; magnetic force; RCC;
Citations & Related Records

Times Cited By Web Of Science : 3  (Related Records In Web of Science)
Times Cited By SCOPUS : 7
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