(a) The QBot 2 battery
(b) The QBot 2 charger (c) The QBot 2 charger input
Figure 2.2: The QBot 2 battery and charger input
2.2 System Specifications and Model Parameters
Table 2.1 lists the main parametrs associated with the QBot 2.
Symbol Description Value Unit
D Diameter of the QBot 2 0.35 m
d Distance between the left and right wheels 0.235 m
h Height of the QBot 2 (with Kinect mounted) 0.27 m
ν
max
Maximum speed of the QBot 2 0.7 m/s
m Total mass of the QBot 2 3.79 kg
Table 2.1: QBot 2 specifications
2.3 The QBot 2 Data Acquisition Card (DAQ)
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 6
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