Teleoperated Food and Medicine Courier Mobile Robot for Infected Diseases Patient

Abstract

Currently, much medical personnel died because of being infected by COVID-19 and because of low personal protective facilities and the duties of medical personnel that must carry out to deliver the logistics to patients and make many contacts between the medical personnel and patients of COVID-19. Mobile robots are considered the right solution to complete this problem. With mobile robots, hospitals or the place of isolation can minimize contact between medical personnel and patients of COVID-19 by carrying out the logistic delivery task. To deliver the logistic, a mobile robot must have low-level control, and the mechanism to carry out the workpiece also have the mechanism to open the door. The mechanism to carry out the workpiece is a system to pick up and place the rack of logistics from one place to another. In this study, the low-level control was applied using a PID control with the parameter's value $\boldsymbol{k}_{\boldsymbol{p}}=500,\boldsymbol{t}_{\boldsymbol{i}}=0.001$, and $\boldsymbol{t}_{\boldsymbol{d}}=0.001$ and teleoperation to control the mobile robot manually, so the mobile robot was able to move and carry out the load with the maximum value is 13 kg also open the door. Based on the results of the tests that have been carried out, the mobile robot with the proposed low-level control and the object management system can do the delivery task to reduce contact between medical personnel and patients of COVID-19, also the mobile robot can be controlled manually.