System and method for correcting a measured position of a continuum robot whilst inspecting or repairing a component

A system for correcting a measured position of a continuum robot whilst inspecting or repairing a component, the system comprising:

• at least one first sensor coupled to the continuum robot, the at least one first sensor being configured to generate information related to an orientation of the at least one first sensor relative to a reference point on the continuum robot;
• at least one second sensor associated with the continuum robot, the at least one second sensor being configured to generate information related to a change in a length of the continuum robot;
• and
• a controller communicably coupled with the continuum robot, the at least one first sensor and the at least one second sensor, wherein the controller is configured to:
• receive, from the at least one first sensor, the orientation of the at least one first sensor relative to the reference point on the continuum robot;
• receive, from the at least one second sensor, the change in the length of the continuum robot;
• determine a parasitic twist in one or more portions of the continuum robot based on, at least in part, the orientation of the at least one first sensor and the change in the length of the continuum robot;
• and
• correct the measured position of the continuum robot based on the determined parasitic twist in the one or more portions of the continuum robot.