Tea serving robot suspended from ceiling

A suspended-from-ceiling type tea serving robot for household use is proposed in this paper. The duty of the tea serving robot is to serve a drink to a bedridden person. A bedridden person can order the robot to bring a cup of tea without hesitation, and therefore can avoid his dehydration. A hand of the robot is suspended from a ceiling, of a house, and driven three dimensionally in the orthogonal coordinates. No installing area is required to utilize the robot because of the suspended structure from a ceiling. The hand swings as a pendulum. A vibration reducing control is proposed to decrease the hand vibration. The swing of the hand is detected by a swing angular detection system. The tea serving experiments are carried out. The robot will be sure to carry the filled teacup without spilling out its contents