Flexible docking mechanism with error-compensation capability for auto recharging system of mobile robot

Se Gon Roh; Jae Hoon Park; Young Hoon Lee; Young Kouk Song; Kwang Woong Yang; Moosung Choi; Hong Seok Kim; Hogil Lee; Hyouk Ryeol Choi

Flexible docking mechanism with error-compensation capability for auto recharging system of mobile robot

Se Gon Roh
, Jae Hoon Park
, Young Hoon Lee
, Young Kouk Song
, Kwang Woong Yang
, Moosung Choi
, Hong Seok Kim
, Hogil Lee
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University
Samsung Co., Ltd
Korea Institute of Industrial Technology

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

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.

Original language	English
Pages (from-to)	731-739
Number of pages	9
Journal	International Journal of Control, Automation and Systems
Volume	6
Issue number	5
State	Published - Oct 2008

Keywords

Auto recharging system
Docking system
Magnetic force
RCC

Cite this

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title = "Flexible docking mechanism with error-compensation capability for auto recharging system of mobile robot",

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",

author = "Roh, \{Se Gon\} and Park, \{Jae Hoon\} and Lee, \{Young Hoon\} and Song, \{Young Kouk\} and Yang, \{Kwang Woong\} and Moosung Choi and Kim, \{Hong Seok\} and Hogil Lee and Choi, \{Hyouk Ryeol\}",

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T1 - Flexible docking mechanism with error-compensation capability for auto recharging system of mobile robot

AU - Roh, Se Gon

AU - Park, Jae Hoon

AU - Lee, Young Hoon

AU - Song, Young Kouk

AU - Yang, Kwang Woong

AU - Choi, Moosung

AU - Kim, Hong Seok

AU - Lee, Hogil

AU - Choi, Hyouk Ryeol

PY - 2008/10

Y1 - 2008/10

N2 - 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.

AB - 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.

KW - Auto recharging system

KW - Docking system

KW - Magnetic force

KW - RCC

UR - https://www.scopus.com/pages/publications/53549093051

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SN - 1598-6446

VL - 6

SP - 731

EP - 739

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

IS - 5

ER -

Flexible docking mechanism with error-compensation capability for auto recharging system of mobile robot

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Keywords

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