Kinematic control of a special hyper-redundant manipulator with lockable joints is studied. In this manipulator, the extra cables are replaced by a locking system to reduce the weight of the structure and the number of actuators. This manipulator has discrete and continuous variables due to its locking system. Therefore, a hybrid approach has been adopted in control. At first the forward kinematics and velocity kinematics of this manipulator is derived, and then a novel closed-loop control algorithm is presented. This algorithm consists of decision making, inner loop controller, andkinematic calculation blocks. The decision making block is the logical part of the control scheme in which suitable switches will be chosen. The control block usestheend-effector position feedback to generate appropriate commands. The performance of the proposed hybrid control scheme in position tracking is assessed for several trajectories.