I just used 2" angle aluminum to make brackets that I screwed/caulked to the roof. I took it a step further and used heavy duty gate hinges to create mounts that allow me to tilt the panel. This is a solid and flexible way to do these.
No I did not screw my panel mounts into the roof structural supports, back in 96, and all the panels are still up there.
The rubber roof sealant is actually pretty much enough to hold the panels down. If you click on my name, then "View Posts" you can keyword search "Solar" and find 10 - 20 really through posts on solar installation, pictures of my panels, and my Herculiner white bedliner roof modification.
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