Line-driven continuum mechanical arm tail end position error compensation method

The invention discloses a tail end position error compensation method for a line-driven continuum mechanical arm. The tail end position error compensation method comprises the steps that a first joint bending angle beta 1 and a second joint bending angle beta 2 of the continuum mechanical arm are selected; the length li of each driving cable in the continuum mechanical arm is calculated according to the beta1 and the beta2; the actual tail end position of the continuum mechanical arm is obtained; the error between the actual tail end position and the theoretical tail end position of the continuum mechanical arm is calculated; judging whether the error is within an acceptable range, and if the error is within the acceptable range, not performing error compensation; otherwise, entering the next step; the deviation direction of the error is judged, different correction modes are selected for correction, and the corrected joint bending angle is obtained; the length ly of each driving cable in the continuum mechan