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
Description
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
The QBot 2 Chassis Velocities to World Velocities block has no parameters.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
Last fully supported in QUARC 2018. |
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Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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