AeCoM: Design, Modeling and Control of a Novel Aerial Continuum Manipulator.

摘要

Aerial robotic systems has raised emerging interests among researchers. In this paper, a novel aerial manipulation system: a flying continuum robotic manipulator (AeCoM) is first proposed, to the best of authors' knowledge. In the perspective of design, a lightweight tendon-driven continuum robotic arm (in 3D-printed material) is delicately coupled with a quadrotor. To address the problem of kinematics inaccuracy due to different tip loading, we introduce an attitude sensor (IMU) to assist in PCC (Piecewise Constant Curvature) configuration. To deal with frequent and complex aerial manipulation tasks, we deploy a tension-based closed-loop control method, which is used to avoid tendon-slacking in manipulating the shape of the continuum arm. Distinct from the conventional aerial rigid manipulators, the proposed system achieve more relative payload capability and motion dexterity. The system's experimental results validate the performance of tendon-slacking avoidance, kinematics accuracy with different tip loading, and tip positioning accuracy for aerial grasping. The comparison with conventional aerial manipulators, indicates that the proposed manipulator has better manipulation performance and more potential applications in the cluttered environment.