In view of the fact that traditional rigid inspection means are difficult to adapt to the inspection needs in complex and narrow unstructured environments due to their large size,low degrees of freedom and poor flexibility,and traditional assembled continuum robots have complex structures,poor motion deformation and low control accuracy,a flexible integrated continuum robot for inspection applications in narrow environments was proposed,and its motion modelling and control methods were investigated.A forward and inverse kinematic model of the robot was established under the assumption of constant curvature based on geometric analysis,and the mapping relationships between its drive space,joint space and operation space were constructed,and its motion characteristics were simulated and analyzed.A flexible continuum robot motion control method was proposed based on the serpentine motion mechanism.The pushing motion of the continuum robot was controlled based on the serpentine motion model and inverse kinematics.The corresponding physical prototype platform was built to experimentally validate the proposed motion model and control method.The results show that the proposed motion model can be used to describe the bending motion characteristics of the flexible detection robot more accurately,and the proposed control method can be used to realize the motion control of the robot,and the control effect and control accuracy are within reasonable range.