Aiming at the human-machine interaction control requirements of continuum robots

a position and pose separation master-slave control strategy is proposed.This strategy controls the position and pose of the continuum robot through the master hand position increment and pose transformation matrix

thereby improving the real-time performance of motion tracking between the master and slave hands.Firstly

a cable-driven continuum robot composed of three bending joints in serially connected is designed.A kinematic model is established using the segmented constant curvature method and simulated.Subsequently

an incremental master-slave control strategy based on position and pose separation is proposed.Finally

an experimental prototype system platform is built to complete robot bending and rotation tests

as well as master-slave control experiments.Experimental results demonstrate that the robot has good stability and can move flexibly in three-dimensional space.The average tracking precision of the master-slave control is 8.52mm

and the robot can effectively follow the motion trajectory of the master hand.