Authors:
Mohammad Shaqura
and
Jeff S. Shamma
Affiliation:
King Abdullah University of Science and Technology, Saudi Arabia
Keyword(s):
Multirotor Robots, UAV, CAD Modeling, API, Dynamic Assembly, Flight Simulation.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Identification
Abstract:
Multirotors micro aerial vehicles (UAV) have become a standard platform in robotics and control research
related to algorithmic development as well as design innovation. Custom-built designs based on open-source
architecture and off-the-shelf components are attractive for researchers due to low cost and easy rapid prototyping.
Hardware selection and integration is usually based on heuristics. Building a realistic quadcopter
simulator requires accurate modeling and knowledge of its dynamics and the effect of each component on
that. Often, moving from simulation to actual experiment is a challenging task due to the huge dynamical
differences when working with the real system. The presented work aims to strengthen the bridge between
simulations and actual system through an automated CAD based modeling software system that generates realistic
models mathematically and visually for Matlab Simscape physics simulation and visualization utilizing
Solidworks API, smart mating techniq
ues and dynamical analysis. A proof of concept application with user
friendly interface is built for Windows OS and the system components are further illustrated.
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