The single-line 1D and 3- line 3D measurement systems are introduced briefly

and a single-line 3D measurement system is proposed by studying the current situation and application of the draw-wire displacement sensor in the field of robot calibration. The parameter identification algorithms corresponding to each of the measurement systems are proposed as well. In order to select appropriate calibration points

an example of a robot palletizer is given to analyze the effect of the error of robot work position on the value of cable measurement. A simulation is carried out to calibrate manufacturing error on nominal D-H parameters and measurement parameters

whose results show that the accuracy after the calibration is improved by 90%. Finally

the validity of the calibration methods is further verified by the kinematic calibration experiment

and some problems still needed to be solved are pointed out.