Control system, instrument holding support arm and retainer

The utility model discloses a control system, an instrument holding supporting arm and a retainer, the control system is used for controlling the posture of the supporting arm, and the supporting arm comprises a clamping piece, a plurality of connecting balls, a steel wire rope and a motor; the control system comprises a driving module used for at least controlling forward rotation and reverse rotation of the motor; the force detection module is used for detecting the pre-tightening force of the steel wire rope in real time; the control module is used for outputting a shutdown signal to the driving module to control the motor to stop action when the force detection module detects that the pre-tightening force exceeds a threshold value; the key detection module is used for detecting a trigger signal of a control button and sending the trigger signal to the control module so as to enable the control module to output a control signal corresponding to the trigger signal; the driving module, the force detection mo