Abstract
Robots have been reportedly seen serving food in several restaurants in many parts of the world. New ventures have been deploying mechanical partners which promote the growth in service robotics. However, robots are considerably incompetent when it comes to beverage and soup delivery. The physical challenge behind the clumsy motion of these machines is found to be its jerky motion control. Jerk control solutions are widely studied in a constrained environment but not well introduced in dynamic environments. In this paper, we will begin by examining developed kinematics solutions, open-source packages from Robot Operating System and the constraints of motion planning. The proposed solution in this paper provides a quick system response with jerk limits using spline velocity profiles. The solution will introduce the concepts of a state machine design that enables the robot to behave and move reactively; effectively balancing its desired velocity and position without spilling a drop of customer satisfaction. Experiments have proven that robots can move at higher velocity without any crashing, spilling, or docking issues. The smooth velocity control proposed will improve the capabilities of waiter robot and service operations in restaurants.
Highlights
IntroductionWaiter Robots in Food and Beverage (F&B) Industry
New ventures with robots grew in more restaurants in India [5,6], Hungary [7], and Nepal [8]
Robots are seen in restaurants delivering food to the tables, but robots serving drinks and soups, though part of the basic tasks of waiter are not common
Summary
Waiter Robots in Food and Beverage (F&B) Industry. The manufacturing sectors have been integrating robots into their operations and improving their productivities for many years. Robots in the service sector are just picking up and expected to grow [1] after initial mixed successes: replacing workers [2] and being replaced themselves [3], in China. Introduced its humanoid waiter robots in 2017 but the novelty and appeal to children soon wore out. The robot meandered its way along a guided path and unable to serve food directly to the tables. New ventures with robots grew in more restaurants in India [5,6], Hungary [7], and Nepal [8]
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