Article Overview
This paper presents a strain-parameterized, discrete coupled kinematic model for a tendon-driven aerial continuum manipulation system (TD-ACMS) based on Cosserat rod theory. The formulation accounts for the aerial platform’s motion and all six deformation modes of the continuum robot segments, including bending, shear, extension, and torsion.
A coupled Jacobian is derived in a conventional matrix form, facilitating the design of kinematics-based controllers without solving stiff differential–algebraic equations. The model is evaluated in an image-based visual servoing (IBVS) task using a customized tendon routing strategy.
Comparative simulations assess trajectory-tracking performance on complex paths, while experiments with an aerial continuum manipulator prototype validate the proposed modeling and control approach.
Key Features
- Coupled strain-based modeling: Represents UAV motion together with the full set of continuum robot deformation modes.
- Control-oriented Jacobian: Provides a conventional-form coupled Jacobian to simplify kinematics-based controller design.
- Simulation and experimental validation: Evaluates IBVS performance with customized tendon routing and a physical aerial continuum manipulator prototype.
Figures
Components of the tendon-driven aerial continuum manipulation system.
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Citation
@article{amiri2025high,
title={High-performance coupled kinematics of aerial continuum manipulation systems for control applications},
author={Amiri, Niloufar and Janabi-Sharifi, Farrokh},
journal={Robotics and Autonomous Systems},
pages={105021},
year={2025},
publisher={Elsevier}
}