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Quanser QBot 2 User Manual

For quarc set up and configuration
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USER MANUAL
QBot 2 for QUARC
Set Up and Configuration
CAPTIVATE. MOTIVATE. GRADUATE.

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Summary of Contents for Quanser QBot 2

  • Page 1 USER MANUAL QBot 2 for QUARC Set Up and Configuration CAPTIVATE. MOTIVATE. GRADUATE.
  • Page 2 This document and the software described in it are provided subject to a license agreement. Neither the software nor this document may be used or copied except as specified under the terms of that license agreement. Quanser Inc. grants the following rights: a) The right to reproduce...
  • Page 3 The general system description, component nomenclature, specifications, and model parameters are all given in Section 2. Section 3 goes into detail on how to setup the QBot 2. Lastly, Section 4 contains a troubleshooting guide. DRAFT - April 14, 2015...
  • Page 4 1.1 Prerequisites To successfully operate the QBot 2, the prerequisites are: 1. To be familiar with the components of the QBot 2. 2. To have QUARC version 2.5 or later installed and properly licensed. The MathWorks Computer Vision System toolbox: http://www.mathworks.com/products/computer-vision/...
  • Page 5 2 Components The QBot 2 is made up of four main components: the Kobuki robot platform, the QBot 2 data acquisition card (DAQ), the Gumstix DuoVero embedded computer, and the Kinect sensor. This section outlines these components in more detail.
  • Page 6 The QBot 2 DAQ contains the wiring and circuitry integrating the DuoVero embedded computer, Kobuki robot, Kinect sensor, and additional input/output (I/O) components connected to the DAQ. Figure 2.3 shows the QBot 2 DAQ with QBOT 2 - User Manual...
  • Page 7 More details on accessing the QBot 2 I/O is found in 2.6. The QBot 2 DAQ connects to the Kinect sensor via a USB port (see Figure 2.4). The QBot 2 DAQ connects to the Kobuki via a ribbon cable (see Figure 2.4). The QBot 2 DAQ is powered via a cable connected to the Kobuki 12 V, 5 A power source (see Figure 2.4).

  • Page 8: Analog Inputs

    2.3.2 Analog inputs 5 V and The QBot 2 provides four user analog input channels (Figure 2.7) that are rated for signals between 0 uses 12-bit analog to digital converters (ADCs). The analog inputs are accessed through the HIL API.

  • Page 9: Encoder Inputs

    2.3.3 Encoder inputs The QBot 2 provides two user encoder input channels (Figure 2.8). Each encoder input channel has an A and B pulse as well as a Z index signal. The encoders are sampled at 100 kHz. The encoder inputs are accessed through the HIL API.
  • Page 10 Figure 2.9: The QBot 2 DAQ user PWM outputs 2.3.5 SPI The QBot 2 provides one Serial Peripheral Interface (SPI) bus (Figure 2.10), which is a synchronous serial data bus for interfacing other sensors or devices with the embedded computer. The SPI channel is accessed through the...
  • Page 11 2.3.6 UART The QBot 2 provides one UART serial port (Figure 2.11) that can be used to interface with 3.3 V (TTL) serial devices. The UART is accessed through the Steam API (see the serial protocol in the QUARC help).
  • Page 12 DuoVero. The DuoVero is connected directly to the QBot 2 DAQ on the bottom side of the PCB. The DuoVero also comes with integrated 802.11 b/g/n WiFi to allow wireless connection between the target Gumstix and the host computer and/or other vehicles.
  • Page 13 (tilted at 0 degrees) as well as at an angle of 21.5 degrees such that the ground in front of the QBot 2 in the viewing angle as shown in Figure 2.13c.
  • Page 14 QUARC help under QUARC Targets | User's Guide | Communications. Table 2.2 lists the HIL blocks used to communicate with the QBot 2's data acquisition hardware. Block Description The HIL Initialize block selects the DAQ board and configures the board parameters.
  • Page 15 Analog none 0 - 3 User PWM outputs Digital 0 - 7 Reconfigurable digital I/O User LED on QBot 2 DAQ LED1 red colour LED1 green colour LED2 red colour LED2 green colour Enable 3.3V power Enable 5V power Enable 12V/5A power Enable 12V/1.5A power...
  • Page 16 22=adapter charging) 11000 Right wheel PWM 11001 Left wheel PWM 1002 Z-axis angle 3000 X-axis angular velocity rad/s 3001 Y-axis angular velocity rad/s 3002 Z-axis angular velocity rad/s Table 2.4: QBot 2 input channels QBOT 2 - User Manual...
  • Page 17 2.6.2 QBot 2 Kinect The QBot 2 is integrated with a Microsoft Kinect sensor, which is capable of capturing RGB image data as well as 12-bit depth data at several resolutions and framerates. The Kinect sensor data is available through the QUARC Multimedia blockset under QUARC Targets/Multimedia in the Simulink Library Browser.

  • Page 18: Establishing Network Connection

    1. Connect the battery inside the Kobuki robot. 2. Press the power button shown in Figure 2.2c. This should turn on both vehicle and QBot 2 DAQ and Gumstix computer. After you make sure that this works, turn off the robot and follow the steps below to establish network connection.
  • Page 19 7. Under This connection uses the following items:, select Internet Protocol Version 4 (TCP/IPv4) and click Properties. Figure 3.2: Network properties 8. Instead of obtaining an IP address of the computer automatically, select Use the following IP address and enter the following: DRAFT - April 14, 2015 QBOT 2 - User Manual...
  • Page 20 10. If the QBot 2 is powered on, the QBot 2 can be pinged by typing ping {IP of the QBot 2} in the Run box in Windows (go to the Start menu and click Run, Figure 3.4). The QBot 2 IP address is labeled on the DAQ PCB as shown in Figure 3.5.
  • Page 21 Figure 3.5: QBot 2 IP address label 3.3 Configuring models for the QBot 2 target Note: This section applies only to files that are run on the Gumstix target (i.e., on the QBot 2) such as qbot_2_control_v1.mdl. Simulink should have a new menu item called QUARC once QUARC has been installed.
  • Page 22 QUARC | Console for all. Building the model (QUARC | Build) will begin the code generation and compiling steps. Output from the compilation is shown in the QUARC console. This step may take a few minutes to complete. QBOT 2 - User Manual...

  • Page 23: Troubleshooting

    For any issue, the first and easiest troubleshooting solution on any electronic device is to reboot the device. Turn off the QBot 2, then turn it back on again. For troubleshooting any problem with the QBot 2, it is always a good idea to...
  • Page 24 Q5 Trying to start the QBot 2 model results in the error Unable to locate the dynamic link library or shared object This error indicates that the QBot 2 driver is not found on the target. Make sure that the model target type is set...
  • Page 25 System target file to quarc_linux_duovero.tlc. Open a console through the QUARC menu QUARC| Console for all, and verify that the console window displays the target IP of your QBot 2 in the window title. Q6 Building a model fails when the error Not enough system resources are available to perform the operation When several models are compiled, the disk space on the Gumstix may become full, and you will no longer have space to build models.

  • Page 26: Technical Support

    5 Technical Support To obtain support from Quanser, go to http://www.quanser.com/ and click on the Tech Support link. Fill in the form with all the requested software and hardware information as well as a description of the problem encountered. Also, make sure your e-mail address and telephone number are included.
  • Page 27 QBall 2 Unmanned Vehicle Systems Lab With Quanser robotic systems, you can introduce control concepts related to stationary and mobile robotics, from vibration analysis, resonance and planar position control to sensors, computer, vision- guided control to unmanned systems control. All of the experiments/platforms are compatible with MATLAB®/Simulink®.