A kinematic modeling and control method for the cable-driven supernumerary robotic limbs is proposed to address the problems of complex motion modeling and low control accuracy caused by its wiring form and drive coupling. The kinematic model of the rigidflexible supernumerary robotic limbs is formulated, which is based on the ( denavit-hartenberg, D-H) method and the Euler transform principle. The active decoupling model between adjacent joints is derived based on the joint coupling mechanism, and a supernumerary robotic limbs control strategy based on the drive decoupling kinematics model is proposed. Finally, an experimental prototype of a supernumerary robotic limbs is established, and its motion model and control method are evaluated. The results show that the maximum multi-point positioning error of the robot end is 7. 45 mm, the maximum moving path error is 7. 24 mm, and the average value of the overall error is 6. 08 mm, which verify the correctness of the decoupling kinematics model and control strategy of the proposed rigid and flexible supernumerary robotic limbs with good control accuracy and motion quality.