A robotic system for handling dishes and serving food/drinks

Abstract

This report is the documentation of the final year project – “A robotic system for handling dishes and serving food/drinks”. This project commences on the 1st of August 2009 and was completed on the 28th February 2010. The project spans a duration of 7 months. The objective of the project is to develop a robotic software system for SCORBOT ER-V+ robot. The robot equipped with this software should be able to perform simple food and drink serving task and manipulate cutlery and dishes.

The first step in the project is to obtain a clear picture of the scope and requirement of the project. At the same time, a close examination of the capabilities and limitations of the robotic hardware and the robot’s environment is meticulously carried out. As a result of these efforts, 3 functional requirements of the system emerged and they are tea making functionality, coffee making functionality and pancake making functionality.

The system architecture is a 3 level architecture. Each level differs from another by its functional complexity. Level 1 functionalities are the lowest in complexity and are single motions such as opening the robot gripper and moving from one position to another position. Level 2 functionalities built on level 1 functionalities and they are single complete routines such as picking up spoon and adding ingredient. Level 3 functionalities built on level 2 functionalities and are complete beverage and food making functionalities.