Robot positioning error graded compensation method

The invention discloses a robot positioning error graded compensation method. The method includes: calculating terminal pose errors before compensation; building a kinematic model and a kinematic error model; calculating the optimal solution of each kinematic parameter error, the corrected kinematic model and the terminal pose under the corrected kinematic model; calculating input compensation quantity after positioning error compensation; calculating actual arrival pose to obtain residual errors after parameter calibration; building a residual error estimation model, and performing expected target point compensation; predicting positioning errors; acquiring predicted target point residual errors; calculating input compensation quantity; calculating terminal actual arrival pose to completethe compensation. By the method, industrial absolute positioning precision can be increased effectively, and the anisotropy of positioning errors in the space can be shown by using the residual errormodel based on space simi