Research On Motion Controller Of A Robot For Aircraft Skin Inspection

For its extensive use and high value, the climbing robot has been provoked high attention ever since it wasborn in1960’s. In this paper, for the demand of big plane nondestructive testing of intelligence, a vacuumabsorption climbing robot was developed, which used DSP as controller. The climbing robot had great researchsignificance and practical value in improving the reliability and flexibility of the inspection of the aircraft.Firstly, according to the special needs of the robot, the overall design of the robot was done, and a proposalthat was fit to the aircraft skin was proposed.Secondly, the dynamics model of the climbing robot was built. Based on the model, the back-steppingcontrol method was designed.Then, according to the characteristics of the aircraft skin inspection robot, the control system of the robot wasdesigned, which included both the hardware and software of the system. The hardware design included theselection of the controller, wireless module, sucker, stepper motor, pressure sensor, and so on. According to themotion characteristics of the robot and control accuracy requirements, the basic software design and performanceoptimization design were designed. By the basic software design, the control system was able to control the robotto do some basic movements. By the performance optimization software design, the control accuracy of the robotand the running speed of the robot were improved.Finally, the control system was integrated into the robot, and the test platform was built. Through a series ofexperiments, the correctness and reliability of the hardware and software design were verified.