An Automatic Effector Changer for a Mobile Robot

A mobile robot system with an automatic effector changer is proposed. This robot system accomplishes various tasks by docking with an effector which is designed for a target task. This paper describes techniques of automatic docking with an effector for the mobile robot. They include position alignment technique proper to docking by PWS type mobile robot using simple sensor and mark, and firm holding mechanism between the robot and the effector. Experimental results of effector changing operation using two kinds of effectors in the real environment are illustrated.