WIT Press

Control Of A Wall Climbing Robot Named Rostam

Price

Free (open access)

Paper DOI

10.2495/AI970271

Volume

19

Pages

14

Published

1997

Size

638 kb

Author(s)

J. Steck, S. Balasubramaniam and B. Bahr

Abstract

To automate nondestructive inspections of aircraft structures, a robot has been built equipped with jointed legs and suction cup feet that allow it to maneuver over the skinned surface of an aircraft exterior. ROSTAM (Robotic System for Total Aircraft Maintenance) has two prismatic degrees of freedom, two revolute degrees of freedom, and sensors for leg (suction cup) contact with the climbing surface. ROSTAM was designed with a sequential controller that runs on a computer attached via an umbilical cord. The sequential controller manipulates each joint separately in a distinct sequence of operations which moves the robot across the surface while maintaining adequate suction attachment during the process. To enhance the motion of the robot, a feed-forward neural network controller is trained to

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