Self-adaptive calibration method, device and equipment for mechanical arm and medium

The invention discloses a self-adaptive calibration method, device and equipment for a mechanical arm and a medium, and belongs to the technical field of system calibration. Comprising the steps that whether the relative pose between a mechanical arm fixed end coordinate system and an optical positioning system coordinate system in a calibration system changes or not is recognized; if yes, obtaining a first pose relation and a second pose relation in the calibration system; wherein the first pose relationship comprises a pose relationship between a mechanical arm moving end coordinate system and an optical positioning system coordinate system; the second pose relation comprises the pose relation between the mechanical arm fixed end coordinate system and the mechanical arm movable end coordinate system; and according to the first pose relation, the second pose relation and a predetermined calibration relation expression between the mechanical arm fixed end coordinate system and the optical positioning system c