Aiming at the problems of machining errors and installation errors in the production process of a certain type of solid material propellant, a compensation strategy for positioning position errors was proposed. By Using the DH method which is commonly used in the field of robotics, the kinematics modeling is carried out, the modeling parameter error is regarded as a variable that changes with the drive command, and the coordinate measuring machine is used as a measuring tool to identify the actual axis equation of the linear axis and the rotary axis, and then the state matrix of the actual coordinate system of each link is re-established. The relationship curve between the errors of the elements of the actual homogeneous coordinate transformation matrix and the given driving instructions is fitted, and the ideal homogeneous coordinate transformation matrix is compensated. Simulation results show that the position error is reduced by about 40% after compensation, which verifies the effectiveness of the method.