Implementing the Propeller Speed Control of Drone Designed in Solidworks in CoppeliaSim Robotic Simulator Environment with Codes Prepared in Matlab

Abstract

Real-time applications of autonomous systems are simulated in the computer environment to ensure that they operate error-free or with minimal errors. Coppeliasim, used in this field, is a platform where several sample models, robots, sensors and actuators are used together, a virtual world is created and interacted with it throughout the working period. Having a comprehensive toolbox, autonomous vehicle training and virtual reality, Coppeliasim's compatibility with Solidworks, a very useful design program for drawing, seems to be a great advantage. Due to these features, CoppeliaSim is very important in predicting and solving problems that may arise in many different applications. The propeller movement of the drone, which we designed with the Solidworks 2020 program and transferred to the Coppeliasim platform using the URDF exporter method, was carried out with the Coppeliasim simulator. In our work, Coppeliasim is synchronized with the simulator and MATLAB API codes. While the drone propellers were working on the Coppeliasim platform, angular speed and timing controls were made using the codes we prepared in the MATLAB program. Additionally, this work shows that drones or different autonomous systems can be controlled and designed before real-time operation using the Coppeliasim simulator and the MATLAB program.