Approach to Designing a Mobile Service Collaborative Robot for Healthcare and Disadvantaged People

摘要

The paper presents an approach to creating a mobile service collaborative robot designed for healthcare assistance and serving people with disabilities. The developing need for the creation of such a robot in the modern conditions of healthcare is considered. The activities in a hospital facility that can be successfully performed by a service robot are shown, based on the experience gained in creating robots to serve people with disabilities. The experience of the Institute of Robotics at the Bulgarian Academy of Sciences (BAS) in creating mobile service robots from the AnRI (Anthropomorphic Robot with Intelligent) series, designed to serve people in a disadvantaged position, built on the basis of a mobile cart on wheels, was also shown. A mathematical model is described on the basis of which the approach used for the synthesis of the vectors for the control of the robot is used. The results of the experimental application of the created Robot AnRI-1, equipped with a manipulator, to serve disadvantaged people are also shown.