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Due to the combined effects of non-linear deformations such as link flexibility and joint flexibility, the end position of the robot arm deviates, resulting in errors. For this problem, the IRB1410 serial manipulator was used as the research object. Through the combination of theoretical analysis, simulation analysis and experimental verification, the position error of the end of the manipulator was analyzed and compensated. A theoretical error model of the rigid-flexible coupling of the robotic arm was established and the Newmark β method was used for numerical simulation analysis; ANSYS and ADAMS were used to carry out the simulation of the motion error of the rigid-flexible coupled robotic arm, and the change of the end position error was analyzed. In order to achieve rapid compensation, a pseudo target point method based on BP network was proposed to compensate the position error based on the simulation error data. The root mean square (RMS) value of the position error was reduced by 68.3% after compensation. In terms of time consumption, the method compensated for an average time of 0.393s per point. The compensation results showed that this method had good compensation effect. The error measurement experiment was carried out by designing and building a measurement experiment platform independently, and the proposed algorithm was used to perform experimental error compensation. Comparing the distance error values before and after compensation of the algorithm, the RMS value of the error was reduced by 77.01% after compensation. The results showed that the pseudo target point method was effective and practical for the compensation of flexible errors.