全方向移動ロボットによる3次元プラグインドッキング動作

抄録

The autonomous robots are increasingly used not only in manufacturing but also in daily life in recent years. These autonomous robots use exclusive docking station to charge batteries. However, it is difficult to operate robot efficiently when operating range is limited around exclusive docking station. In previous researches we proposed a charging method called “Plugin-docking system” that uses robot's movement to insert plug into outlet directly. As a result, this method realizes to reduce exclusive docking station's space and cost. The purpose of this study is to design height control system in order to develop three dimensional control for Plugin-docking system from previous researches and to investigate Plugin-docking with three dimensional control.