Junjun Jiang1, Congqing Wang1,*
CMES-Computer Modeling in Engineering & Sciences, Vol.120, No.1, pp. 105-121, 2019, DOI:10.32604/cmes.2019.06277
Abstract Aircraft skin health concerns whether the aircraft can fly safely. In this paper, an improved mechanical structure of the aircraft skin inspection robot was introduced. Considering that the aircraft skin surface is a curved environment, we assume that the curved environment is equivalent to an inclined plane with a change in inclination. Based on this assumption, the Cartesian dynamics model of the robot is established using the Lagrange method. In order to control the robot’s movement position accurately, a position backstepping control scheme for the aircraft skin inspection robot was presented. According to the dynamic model and taking into account… More >
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