Aiming at the problem that the traditional method can not fully consider all the nonlinear factors of inverters,a precise calculation method for error voltage based on the phase current estimation lookup table was proposed.On the basis of considering the influence of many nonlinear factors such as switch-off/on delays,dead time,and parasitic capacitance,the filtered current was used to perform error voltage lookup,which effectively avoided the influence of interference factors such as harmonics introduced by feedback current and current clamping on the nonlinear compensation strategy of the inverter by the meter lookup method.The servo motor support platform was built to verify the effectiveness of the proposed method in industrial robot control.The experimental results show that compared with the traditional nonlinear compensation strategy,the proposed algorithm has better current harmonic suppression ability and can achieve better compensation effect,and the compensated phase current THD is less than 1.5%.