Robot flexible cutter calibration method based on articulated measuring arm

The invention provides a robot flexible cutter calibration method based on an articulated measuring arm, which comprises the following steps: S1, controlling a mechanical arm to move along a coordinate axis direction, and recording related coordinates of the measuring arm and a robot; s2, controlling the mechanical arm to rotate around a fixed point, and recording related coordinates of the measuring arm and the robot; s3, establishing an equation set according to the coordinates of the previous two steps, and solving by using a least square method to obtain a conversion matrix; and S4, calculating a calibration plane equation by using the measuring arm, controlling the mechanical arm to contact the plane, and solving according to the pose of the robot and the plane equation to obtain the position of the center point of the tool. According to the robot compliant cutter calibration method based on the articulated measuring arm, a high-precision measuring instrument is introduced, the calibration precision is h