Abstract: Rotate each axis of the robot in turn to obtain its axis equation, then use the algebraic method to calculate the D-H model parameters and the zero angle error of the robot to realize the calibration of the geometric parameters of the robot. The calibrated robot is used as a measuring tool to measure the transformation matrix of each unit in the equipment relative to the robot, and the position of the corresponding unit model in the CAM software is adjusted by the measured matrix to realize the registration of the processing space and the CAM space. Using the CAM software to generate the tool path, using the registration parameters, the actual robot inverse kinematics equation and the zero angle error, the tool path is post-processed to generate the robotic processing path. The robot processing equipment that realizes the calibration of geometric parameters, the calibration of processing equipment and the automatic programming of software has the characteristics of CNC processing equipment, which not only has high processing precision but also easy to control, and the average error of experimental processing does not exceed 0.7 mm.