Aiming　at　the　requirements　of　online　laser　tracking　measuring　and　real-time　steering　for　robot　position　and　orientation　in　the　field　of　large-scale　high-end　equipment　manufacturing,　a　type　of　transformation　calibration　method　between　the　robot　base　and　the　laser　measurement　coordinate　system　was　presented　in　this　paper.　The　algorithm　for　positional　evaluation　of　optical　TCPs　(tool　center　point)　was　devised　based　on　the　criterion　of　distance,　and　the　computation　of　a　coordinate　system　center　of　gravity　configuration　based　on　the　theory　of　rigid　body　kinematics　was　applied.　Subsequently,　the　least　squares　optimization　estimation　for　rotation　transformation　of　robot　pose　was　achieved　through　a　Lodrigues　matrix　transformation.　An　orthonormal　matrix　can　be　reached,　which　was　the　pose　transformation　for　the　base　frame　of　the　robot　with　respect　to　the　laser　measurement　frame.　The　comparison　experiment　between　initial　calibration　and　optimal　estimation　of　pose　transformation　was　performed.　Results　verified　the　feasibility　and　effectiveness　of　the　evaluation　process,　which　significantly　improved　the　unitary　orthogonality　of　the　rotation　matrix,　and　the　position　transformation　RMSE　of　a　robot　corresponding　to　the　laser　measurement　frame,　which　can　reach　0.579　0　and　0.501　5　mm,　respectively.　©　2018,　Science　Press.　All　right　reserved.