Tea serving robot

The basic idea of a tea serving robot for bedridden people is proposed. A tea pot (or cup) is gripped and controlled three dimensionally by using a tea serving robot. The arm has a cantilever structure with a delicate plate spring. A bar of lower stiffness was used to ease patient´s fear. However, vibration tends to occur in bars of low stiffness. The scheme of reducing these vibrations using observer based optimal control is considered. The basic concept of the tea serving robot is described