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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, and Hyouk Ryeol Choi*
International Journal of Control, Automation, and Systems, vol. 6, no. 5, pp.731-739, 2008

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.

Keyword : Auto recharging system, docking system, magnetic force, RCC.

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