Dedicated Payload Stabilization System in a Service Robot for Catering

The paper considers the implementation of robots in the service sector, as well asmechanisms for stabilizing the transported goods. The design of a mobile robotic platform is presented, which differs from analogs in the ability to stabilize the payload due to a combined solution based on the use of a PID controller, a suspension system and payload control. The design solutions for monitoring the payload are analyzed separately. The implemented mechanism is described, and the analysis is made mainly of its use in service robots limited by the layout of the premises. This device will solve common applied problems in the field of robotic service associated with the need to use such robots mainly on flat surfaces. The proposed solution allows to reduce the cost, simplify and optimize the work of the robot in the restaurant premises. Based on the proposed solution, a fully functional robot that can be developed, which does not require additional investments in the reconstruction of the premises of the restaurant, which provides assistance, or completely replaces the waiter when delivering food and drinks to the client's table, as well as attracting new customers due to its novelty and practicality.