AeCoM: An Aerial Continuum Manipulator With IMU-Based Kinematic Modeling and Tendon-Slacking Prevention
提出一种由四旋翼和肌腱驱动连续体机械臂组成的新型空中机械臂系统AeCoM，通过IMU运动学模型和闭环控制器实现精确末端位姿与防肌腱松弛，实验验证了性能。
This article presents a novel aerial manipulator (AM) system called the aerial continuum manipulator (AeCoM). The system is comprised of a quadrotor and a tendon-driven continuum robotic manipulator. Compared to current AMs, the AeCoM has the advantages of being lightweight and having high dexterity. The continuum manipulator has two contributions: 1) the development of an IMU-based kinematic model to obtain the precise end-effector pose under external loading and 2) the design of a robust closed-loop kinematic controller that implements fast shape-deformation control and prevents tendon slacking by providing feedback of the configuration space and torque applied on tendons. The article provides a detailed mechanical design of the system and extensive experiments were conducted to validate the system’s performance.