The double tendonsheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and longdistance transmission. We are attempting to apply it to manipulators, wherenonlinear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendonsheath actuators are offline compensation methods that do not require output feedback, but when the system’s motion and configuration changes, it cannot adapt to the drastic changes in the transmission characteristics. Depending on the transmission system, the robotic arm, changes at any time during the working process, and the force sensors and torque sensors that cannot be applied to the joints of the robot, so a realtime position compensation control method based on flexible cable deformation is proposed. A double tendonsheath transmission model is established, a double tendonsheath torque transmission model under any load condition is derived, and a semiphysical simulation experimental platform composed of a motor, a double tendonsheath transmission system and a single articulated arm is established to verify the transfer model. Through the signal feedback of the end encoder, a realtime closedloop feedback system was established, thus that the system can still achieve the output to follow the desired torque trajectory under the external interference.