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- Title
Path-tracking Algorithm for Aircraft Fuel Tank Inspection Robots.
- Authors
Niu Guochen; Wang Li; Gao Qingji; Hu Dandan
- Abstract
A 3D path-tracking algorithm based on endpoint approximation is proposed to implement the path traversal of robots designed to inspect aircraft fuel tanks. Kinematic models of single-joint segments and multiplejoint segments were created. First, each joint segment of the path was divided into many equal sections and the rotation angle was computed. The rotation angle was found for the plane determined by one divided point and the secondary terminal joint segment. Second, the shortest distance search strategy was used to calculate the bending angle of the joint segment. The main advantage of the algorithm was that only the terminal joint segment variables needed to be solved, the joint variables of other joint segments were copied from the adjacent front-end joint segment variables in turn. Finally, evaluation indexes of path tracking performance were proposed to evaluate the effect of the algorithm. Simulations of planar and space path tracking were carried out using MATLAB, and the effectiveness and stability of the tracking algorithm were verified.
- Subjects
AIRPLANE fuel tanks; ROBOT design &; construction; KINEMATICS; APPROXIMATION theory; MATLAB (Computer software)
- Publication
International Journal of Advanced Robotic Systems, 2014, Vol 11, Issue 5, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/58465