Abstract:At present the six degree of freedom (6DOF) industrial robot is generally with higher repeat positioning accuracy, but the absolute positioning accuracy of robot is lower. Body calibration of the robot is carried out by following four steps: kinematic modeling, actual measurement, parameter identification, and error compensation in order to improve the accuracy of offline programming. Based on summarizing the existing industrial robot of body calibration technology, kinematic model simulation was completed through MATLAB, the real position and orientation were obtained based on Leica AT960 absolute laser tracker system, SA software was used to realize the parameter identification, and the error of robot joints was reduced by external controller to finish the experiment of robot body calibration finally. On the basis of the above work, according to GB/T126422013,detecting the position and orientation feature before and after the calibration experiments, test data was processed through the Robot Check software. Compare of the robot calibration results are completed to verify the body calibration experiment.