为了提升机器人通信系统多时钟同步性能，通过对分布式时钟同步补偿方案进行研究，设计时钟误差定量补偿与动态补偿算法，采用基于IgH EtherCAT通信协议栈实现同步补偿方案，最后在六轴机械臂上开展轨迹跟踪与通讯性能测试。结果表明，与非IgH同步方案相比，该同步方案的应用提高了机械臂末端执行器的轨迹圆精度。时钟同步误差降至54 ns，同步误差容许范围在± 200 ns以内。可见补偿方案提高了时钟同步性能，满足机械臂的应用需求。

To enhance the synchronization performance of multiple clocks in robotic communication systems, a study was conducted on a distributed clock synchronization compensation scheme. Quantitative compensation and dynamic compensation algorithms for clock errors were designed. The synchronization compensation scheme, based on the IgH EtherCAT communication protocol stack, was implemented, and trajectory tracking and communication performance tests were conducted on a six-axis robotic arm. The results show that the application of this synchronization scheme improves the circular trajectory precision of the robotic arm's end effector compared to non-IgH synchronization schemes. The clock synchronization error is reduced to 54 ns, with the error tolerance within ± 200 ns. It is evident that the compensation scheme enhances clock synchronization performance and meets the application requirements of the robotic arm.