Abstract:At present, teaching programming is commonly used in industrial robot. The precision was obtained in this way through the watching of operator, which was the main reason that restricted industrial robots milling precision. The software programming is proposed to use in order to improving the industrial robots milling precision. First, calibration tool was used to calibrate industrial robot, parts fixture and milling cutter fixture to get the transition matrix among them. Then, the matrix was used to adjust parts fixtures and milling cutter fixtures position and posture in the software so that the industrial robots, parts fixtures and milling cutter fixtures position and gesture in actual space were consistent with them in software space. At last, the industrial robots milling procedure programmed in software space was mapped in actual space. Because the software space was consistent with the actual space, the industrial robots calibration precision was the milling precision. The experimental results show that if the procedure is programmed in calibration software space, the positional accuracy can be 0.2 mm and the posture accuracy can be 0.1°. But if the procedure is programmed by teaching programming, the positional accuracy is common 0.5 mm, and the posture accuracy is common 0.5°.