Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur high computational costs and do not explicitly account for aerial platform underactuation. To address these limitations, this paper presents a generalized dynamic formulation of a coupled TD-ACM with an underactuated base. The proposed approach integrates a strain-parameterized Cosserat rod model with a rigid-body model of the UAV into a unified Lagrangian ordinary differential equation (ODE) framework on $\mathrm{SE}(3)$, thereby eliminating computationally intensive symbolic derivations. Building upon the developed model, a robust dual-camera image-based visual servoing (IBVS) scheme is introduced. The proposed controller mitigates the field-of-view (FoV) limitations of conventional IBVS, compensates for attitude-induced image motion caused by UAV lateral dynamics, and incorporates a low-level adaptive controller to address modeling uncertainties with formal stability guarantees. Extensive simulations and experimental validation on a compact custom-built prototype demonstrate the effectiveness and robustness of the proposed framework in real-world scenarios.

翻译：肌腱驱动空中连续体机械臂（TD-ACMs）融合了无人飞行器（UAV）的机动性与轻量化连续体机器人（CRs）的柔顺性。现有TD-ACMs耦合动力学建模方法计算成本高且未显式考虑空中平台的欠驱动特性。针对上述局限，本文提出一种含欠驱动基座的耦合TD-ACMs广义动力学公式。该方法将应变参数化Cosserat杆模型与UAV刚体模型统一为$\mathrm{SE}(3)$上的拉格朗日常微分方程（ODE）框架，从而避免了计算密集的符号推导。基于所建模型，进一步提出鲁棒的双相机图像基视觉伺服（IBVS）方案。所设计控制器可缓解传统IBVS的视场（FoV）限制、补偿UAV横向动力学引起的姿态致图像运动，并融入具有形式化稳定性保证的低层自适应控制器以应对建模不确定性。通过在紧凑型自制样机上开展的大量仿真与实验验证，证明了所提框架在真实场景中的有效性与鲁棒性。