Robot calibration method and related device

The invention discloses a robot calibration method and a related device, aiming at singularity and parameter redundancy phenomena existing in a current robot kinematics calibration model, an exponential product (POE) formula is adopted to describe forward kinematics of a robot, so that a forward kinematics equation is obtained, differentiation is carried out on the forward kinematics equation, a linear error model is established, and the robot kinematics is calibrated according to the linear error model. And redundant parameters are eliminated through minimization processing, and finally a kinematics calibration equation is obtained. The absolute positioning precision of the robot can be effectively improved, online automatic calibration of the robot is achieved, and the automation degree of the calibration method is improved. Furthermore, through a robot kinematics calibration method of a POE formula minimum model and two-dimensional code positioning, parameter identification is carried out on a calibration