Abstract: For the TCF(tool/terminal control frame) calibration of a robot holding a LDS(laser displacement sensor),a method based on a planar template is proposed.The robot is required to operate its end-effector so that the LDS measures the planar template at different configurations.Then the calibration parameters are solved by nonlinear least square fitting.To reduce the singularity of the problem,the parameter-control strategy during the calibration is qualitatively analyzed.Except for a planar template with high surface accuracy,no extra measurement equipments are needed.The calibration process is simple and easy for operation and automatization.Simulation and experiment results show that the method presented in this paper has high accuracy.