The positioning accuracy of industrial robots is a key issue in robot technology research, which directly affects the robot's operating accuracy and application level. This project aims at key issues in robot dynamic error measurement. It originally introduces the cascade prism multi-mode tracking method into robot dynamic measurement. Combined with a single-station dual-field-of-view three-dimensional reconstruction scheme, it can not only achieve coarse and fine sequential tracking, time-varying tracking and other dynamic measurement requirements such as continuous tracking, but also can generate multiple tracking styles such as straight lines and circular arcs, and simultaneously meet the dynamic multi-degree of freedom measurement requirements of large field of view, high-resolution imaging and large range, high-precision orientation. The research content includes: Establish the measurement scheme and mathematical model of cascade prism coarse-fine coupled tracking and dual-field imaging joint control; study the parameter matching, mode conversion, measurement information extraction and image processing methods of coarse-fine tracking and dual-field imaging; According to the measurement requirements, establish the theoretical model, error model and experimental scheme for robot dynamic error measurement, and realize accurate calibration of the measurement system; Through the measurement experiment of robot dynamic error, scientific basis is provided for robot error measurement, and the measurement accuracy is evaluated. The single-station multi-mode tracking and measurement method proposed in this project is original and feasible. It aims to overcome key problems in the error measurement system of a laser multi-mode tracking robot, carry out principle prototype experiments and application demonstration research of the measurement system, and is expected to provide dynamic error measurement for robots. Provide a new solution path and have important application value and market prospects.