QBot 2 Joint Velocities to Chassis Velocities QBot 2 Encoder Counts to Distance navigation bar

Table of Contents

QBot 2 Chassis Velocities to World Velocities

Converts chassis velocities to world Cartesian velocities for the Quanser QBot 2/2e mobile robot.

Library

QUARC Targets/Devices/Quanser/Mobile Robots/QBot 2

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library/Devices/Quanser/Mobile Robots/QBot 2')

Description

QBot 2 Chassis Velocities to World Velocities

The QBot 2 Chassis Velocities to World Velocities block converts chassis velocities for the Quanser QBot 2/2e robot to world Cartesian velocities. Chassis velocities consist of the linear velocity of the robot's origin, and the angular velocity about that origin. The Quanser QBot 2/2e axes conform to the Quanser Standard Axes.

Input Ports

linvel

The linear (translational) velocity of the chassis in m/s.

ang

The angular position of the chassis in rad. This position is typically provided by the QBot 2 Joint Velocities to Chassis Velocities block or by using the angle derived from the gyroscope, which is available as other input 1002 via the HIL Read Other or HIL Read blocks.

Output Ports

x_dot

The velocity in the X direction in m/s. The X direction is the forward direction.

y_dot

The velocity in the Y direction in m/s. The Y direction is to the left when facing in the positive X direction (i.e. looking at the back of the robot towards the front).

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

QBot 2 Chassis Velocities to World Velocities

The QBot 2 Chassis Velocities to World Velocities block has no parameters.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

Yes

Yes

Last fully supported in QUARC 2018.

Rapid Simulation (RSIM) Target

Yes

Yes

S-Function Target

No

N/A

Old technology. Use model referencing instead.

Normal simulation

Yes

Yes

* Compatible means that the block can be compiled for the target.

See Also

 

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