Accuracy　improvement　toward　continuum　robot　brings　huge　challenge　on　motion　controlling　and　path　planning,　especially　without　external　sensory　system,　e.g.　stereovision　and　magnetic　positioning.　Thus,　this　paper　proposes　an　efficient　method　to　analyze,　establish　and　integrate　the　kinematic　model　into　a　fuzzy　controller　for　acquiring　precise　motion　performance　of　the　continuum　robot.　Firstly,　through　the　analysis　of　the　forward　and　inverse　kinematics　of　its　tip,　posture　and　driving　parameters,　the　mutual　mapping　relationship　between　its　position,　posture　and　driving　spaces　is　obtained.　Then,　according　to　its　kinematics　model,　the　motion　control　system　is　designed　and　the　semi-closed　loop　feedback　based　on　fuzzy　control　is　introduced　to　compensate　the　error　accumulation　of　the　drive　system.　Circular　trajectory　motion　control　experiments　are　carried　out　under　openloop　control　and　semi-closed　loop　compensation,　respectively,　to　explore　the　influence　of　drive　error　accumulation　on　the　posture　parameters　and　tip　motion　accuracy　of　the　continuum　robot,　and　to　analyze　the　compensation　effect　of　semi-closed　loop　feedback　based　on　fuzzy　control.　The　experimental　results　prove　the　effectiveness　of　the　semi-closed　loop　system,　and　the　actual　trajectory　error　does　not　exceed　6.01%.　©　2022　IEEE.