摘要
研究了飞机蒙皮检查机器人的系统结构及相关关键技术.提出了针对非对称异型飞机蒙皮表面的爬行机器人的总体结构和关键部件,对机器人作业过程中的吸附、运动及检测功能进行了分析,并给出了感知和运动控制系统的结构.研究了基于轨迹线性化理论的机器人路径跟踪控制算法,用于补偿由于驱动单元引起的误差.给出了基于视觉的飞机铆钉裂纹缺陷分类与识别方法.试验结果验证了算法的有效性.
The system structure and related key technologies of the robot used to inspect the aircraft skin defects are studied. The general structure and key components which enable the climbing robot to maneuver over the nonsymmetrical exterior surface of an aircraft are presented. By analyzing the functions of absorption, motion and inspect＇ion during robot operation, the structures of the perception and control systems are presented. A path tracking control algorithm based on trajectory linear control （TLC） is designed to compensate errors caused by the driving components. The vision-based classification and identification algorithms for rivet crack defects are provided. The validity of the algorithms is verified by experiments.
出处
《机器人》
EI
CSCD
北大核心
2007年第5期474-478,484,共6页
Robot
基金
中国博士后科学基金资助项目(2005037540)
关键词
飞机蒙皮
缺陷
检测
机器人
aircraft skin
defect
inspection
robot
