In order to solve the issue of low wall locomotion accuracy of the tracked wall climbing robots，a dynamic model of the robot on the wall surface was used to investigate a speed compensation method based on the optimization of the track slip ratio. Firstly，to further analyze the motion mechanisms of the wall-climbing robot，a steering dynamic model suitable for various wall inclination angles was established based on screw theory. Subsequently，the track shear theory was introduced，and the corrected motor speed required during actual locomotion was derived according to the slip rates of the left and right tracks，thereby achieving speed compensation and trajectory correction. In addition，MATLAB simulations were conducted to determine the minimum safe adsorption force for the robot under different postures，as well as the variation trend of the slip rate with adsorption force during the adsorption process. Finally，experimental validation was carried out using an existing prototype. The results show that the dynamic model incorporating the slip ratio can more closely match the actual pose changes of the robot during movement. After introducing speed compensation，the robot’s posture correction exceeds 61%. It is concluded that the speed compensation method based on the slip ratio significantly enhances both movement accuracy and operational efficiency，and provides valuable insights for improving the wall-climbing robot’s size design and feedforward compensation motion control.