Optimal Control of the Passive and Novel Docking Mechanism

Won Suk Jung; Seung Ho Lee; Soo Hyun Kim

doi:10.4028/www.scientific.net/AMM.481.180

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Optimal Control of the Passive and Novel Docking Mechanism
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 481Optimal Control of the Passive and Novel Docking...

Optimal Control of the Passive and Novel Docking Mechanism

Abstract:

We propose a novel passive docking and exchanging mechanism of batteries at mobile robots. New proposed mechanism needs no actuators and sensors such as laser range finder and vision sensor to align. This mechanism, key and housing system, reduces the docking, exchanging time of batteries, and contact force by complete passive mechanism and applying optimal control of velocity by Pontryagin's minimum principle. This superior performance is demonstrated by dynamic analysis program, Recurdyn and Matlab Simulink.

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Periodical:

Applied Mechanics and Materials (Volume 481)

Pages:

180-184

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.481.180

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Online since:

December 2013

Authors:

Won Suk Jung, Seung Ho Lee, Soo Hyun Kim

Keywords:

Battery Exchanging Mechanism, Mobile Robot, Optimal Control, Passive Docking

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