Overview

The QBot 2 for QUARC is built on a two wheel differential drive platform with built-in encoders. It utilizes Quanser’s on-board DAQ and a wireless embedded computer to measure onboard sensors including bump, cliff, and RGBD. The DAQ also provides several I/O channels for interfacing additional digital and analog sensors. The integrated RGB camera and depth sensor are capable of capturing RGB image data and 11-bit depth data at several resolutions and frame rates. The QBot 2 operates using a host-target structure. Controllers are developed on the ground station host using QUARC for Simulink®. Real-time code is downloaded from the host to the QBot 2 embedded computer and allows users to run, modify and monitor code remotely from the host. The controllers on-board the QBot 2 are open-architecture and fully modifiable.

  • Wide range of sensors included (bump sensor, wheel drop sensor, cliff sensor, 3-axis gyroscope, RGBD sensor)
  • Customizable with off-the-shelf sensors supported by QUARC, including digital (SPI, UART, I2C) and analog sensors
  • Low power on-board computer with Linux operating system for high-level, real-time decision making and task execution
  • Mounting holes
  • Adjustable camera
  • Easy integration of additional QBot (QBot 2, Qbot) and QBall (QBall 2, QBall-X4) units
  • Curriculum with independent exercises for robotics and mechatronics courses included
  • Differential drive kinematics
  • Forward and inverse kinematics
  • Dead reckoning and odometric localization
  • Path planning and obstacle avoidance
  • 2D mapping and occupancy grid map
  • Image acquisition, processing and reasoning
  • Localization and mapping
  • High-level control architecture of mobile robots
  • Vision-guided vehicle control

For Simulink

QBot 2 for QUARC workstation includes

  • QUARC® add-on for MATLAB®/Simulink®
  • QBall 2 for QUARC
  • Wireless router

Required software not included:

  • Computer Vision Systems Toolbox™ Simulink add-on

For advanced localization requirements, OptiTrack infrared camera systems are available separately.

Product Details

Platform Kobuki mobile base by Yujin Robot
Number of wheels 2
QBot 2 diameter 35 cm
QBot 2 height (with Kinect mounted) 27 cm
Battery life 3 hours
Maximum linear speed 0.7 m/s
Available payload app. 4.5 kg
Sensors included 3 digital bumper sensors
3 digital wheel drop sensors
3 analog and digital cliff sensors
3-axis gyroscope
2 wheel encoder inputs
2 wheel speed outputs
2 digital LED outputs
4 digital power enable outputs
2 analog motor current inputs
3 digital buttons
2 overcurrent sensors
1 Z-axis angle measurement (heading)
1 battery voltage sensor
1 Kinect RGBD sensor
Additional I/O channels available 8 reconfigurable digital I/O channels
4 analog input channels
2 encoder input channels
4 PWM output channels
1 SPI bus channel
1 UART serial port (interface 3.3 V serial device)
1 I²C serial bus channel
On-board computer Gumstix DuoVero Zephyr with integrated 802.11 b/g/n WiFi
Memory 1 GB DDR SDRAM, 32 MB Flash
QUARC maximum sample rate 1,000 Hz
Camera resolution 640 x 480
Depth sensing 11 bit
Depth sensor range 0.5 m – 6 m

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