The invention discloses an efficient and convenient and quick simple
robot calibrating method, and relates to the field of
robot zero position calibration. The
robot calibrating method comprises the following steps that 1) keeping cuspidal points of measuring tools opposite all the time after the mounting is completed, manually teaching a robot, and recording corresponding joint data and
joint axis data of N points; 2) constructing homogeneous matrices of various axes according to the
joint axis data, and then multiplying the homogeneous matrices in sequence, thus obtaining an overall homogeneous matrix; 3) giving basic data, and constructing a positive movement homogeneous matrix based on the overall homogeneous matrix; and 4) adding the joint data to a given error parameter, thus obtaining a
joint angle matrix, and substituting the
joint angle matrix in the positive movement homogeneous matrix for optimizing, thus obtaining an error, and then compensating the error to a robot zero position, thus completing the calibration. The problem that the
robot control precision is low due to the fact that a calibration instrument and
software combined process adopted for existing zero position calibration is complicated in procedure and high in cost and the zero position calibration practicability of a calibration instrument and
software is poor is solved, and the effects that zero position calibration by pure
software is realized, the practicability is improved and precision control is realized are achieved.