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Control Design of an Office Mail Delivery Robot Based on the Festo Robotino Platform

This paper details the hardware and software design of an indoor mail robot that is based on the Festo Robotino platform. The Festo Robotino is an indoor robotic platform equipped with omni-directional wheels, sensors, a controller, a camera, and wireless connectivity. The implementation of the robot entailed the mechanical expansion of the Robotino base robot to include compartments for holding office mail and a touch screen interface for entering commands. An arm was also added to knock on closed office doors. The robot receives user commands through a php website, which communicated with the Robotino controller through Python software functions. This work was a bachelor level graduation project spanning two semesters at the department of mechatronics engineering at the German Jordanian University. It demonstrates the versatility of the Festo Robotino platform in bachelor level education and even master level research in the areas of vision, navigation, autonomy, and algorithms. The mechanical, electrical, and software, i.e. mechatronic design are presented. The robot was tested indoors between two offices and a home position.