Industrial robot tail end pose calibration method

The invention discloses an industrial robot tail end pose calibration method. The method comprises the steps that an industrial robot tail end pose calibration system based on laser six-degree-of-freedom measurement is established; calibrating a transformation relation between an industrial robot base coordinate system and a laser tracker coordinate system, and a transformation relation between an industrial robot flange tail end coordinate system and a target coordinate system; the nominal value of the tail end pose of the industrial robot is compared with the measured value, and the tail end pose error of the industrial robot is obtained; establishing a linear equation set of the industrial robot tail end pose error and the kinematics parameter deviation of the industrial robot tail end pose error; an LM algorithm is adopted to solve the linear equation set, and preliminary identification of kinematics parameters of the industrial robot is achieved; a harmony search algorithm is adopted to further optimize