A tea serving robot for bedridden people is proposed in this paper. The tea serving robot is a standing-on-the-floor type with light weight, requiring a small installation area, and can be easily moved. A robot arm and hand can grasp a tea cup and carry it three dimensionally. A weak stiffness cantilever arm is used as the robot arm in order to ease bedridden people's tension. The bedridden person can easily catch and stop the robot arm and hand. The vibration reducing control of the robot arm is considered. The tea serving robot is actuated following the voice instruction. Therefore, the bedridden person can easily order the robot to carry a cup of tea.
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