根据指数积公式中关节旋量坐标的理论值和实际值之间的伴随变换关系,将机器人运动学方程改写成包含有关节约束条件的等价形式.对运动学方程取微分得到末端连杆定位误差与关节旋量误差及零位位置误差间的线性化模型.利用距离精度的定义给出了指数积形式的机器人距离误差模型,避免了标定过程中坐标测量结果从测量设备坐标系向机器人基础坐标系变换带来的误差.基于最小二乘法给出了一种机器人运动学参数标定模型.采用激光跟踪仪作为测量手段完成了一种5自由度机械臂运动学参数标定实验.测试结果表明,经过参数标定在随机产生的测试点上机器人距离误差的平均值降低了近3.5倍. According to the concomitant transformation relationship between the theoretical value and the actual value of the knuckle coordinate in the exponential product formula, the kinematic equation of the robot is rewritten into an equivalent form that contains the constraint conditions of the knot. The kinematic equation is differentiated to obtain the end link positioning Error and joint spin error and zero position error linearization model.Using the definition of distance accuracy is given in the form of exponential product of the robot distance error model to avoid the calibration process of coordinate measurement from the coordinate system of the measuring device to the robot base Based on the least squares method, a calibration model of robot kinematics parameters is given.Laser tracker is used as a measurement method to complete a calibration experiment of kinematic parameters of a 5-DOF manipulator.The test results show that, After parameter calibration, the average robot distance error was reduced by nearly 3.5 times at randomly generated test points.