Abstract: The paper taking 3R robot as the research object, and considering the method of research on pose accuracy control with joint clearances. First, using the D-H method to establish kinematic model of the manipulator arm with clearance and without clearance, getting the influence of joint clearance for the error of end position. Second, establishing 3D model and motion simulation in robot with joint clearance and without joint clearance, which will get the error of end position.Then, the fuzzy controller is designed based on the error reduction accuracy, and the angular position error is compensated by the angular displacement to obtain the corresponding angular displacement compensation amount. Finally, the kinematics simulation analysis of the model with gap is carried out by using the compensated angular displacement, and the postural error after compensation is obtained. The research shows that with the fuzzy control method, the end pose error of the manipulator in the x and y directions is significantly reduced, and the control effect is better, but the error in the z direction is also reduced. It can be seen that under the fuzzy control strategy, Compensated angular displacement has a significant effect on the accuracy error of the end position of the joint hinge arm.