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When the explosive robot is used to eliminate the blasting material, the mechanical arm cannot meet the absolutely accurate positioning requirements, and there is a certain error between the position detection accuracy and the actual distance. In order to solve this problem, an automatic compensation method for the positioning accuracy error of the robot arm of the detonation robot is proposed. Based on the DH motion model and the differential transformation method, the pose error model of the robot arm of the detonation robot is created. The error model is analyzed by repeated parameters, and the repeated parameters are removed to obtain the identifiable linear equation. The linear equation of the identifiable kinematic parameter error model is added. An incremental error compensation. Finally, the simulation results show that the proposed method effectively compensates the absolute positioning accuracy of the robot arm by 1.3mm by effectively compensating the attitude error model of the robot arm.