Abstract: Aiming at the problem of positioning error compensation of coal machine equipment airborne operating arm，a method of positioning error compensation based on piecewise linear regression was proposedThe forward and reverse kinematics equations were established based on the kinematics analysis of a typical airborne multijoint operating arm of coal machine equipmentThe fixed Шtype running path of the operating arm was designed based on the three working positionsThe position information of multiple positions in the same path was collected many timesThe measurement value and target value were analyzedThe target value was corrected to realize error compensationThe experimental results show that the method of piecewise linear regression can reduce the root mean square error in x，y and z directions to less than 100 mm，and the absolute value error to less than 100 mm，which can meet the requirement of error within 100 mm.