In order to realize rapid online measurement of complex workpiece,a robotic flexible optical measurement system based on structured light is established.A simultaneous calibration method for the intrinsic parameters of structured light sensor and hand-eye relation of robot is proposed.In the calibration process,a planar target is fixed as reference substance in the robot workspace.The robot end-effector is accurately controlled to perform translational motions and pose-changed motions,and the camera captures the image of the planar target in different poses.The intrinsic parameters of the structured light sensor and hand-eye rotation matrix are calibrated simultaneously by the translational motions.The camera intrinsic parameters and the hand-eye translation vector are calibrated simultaneously by the pose-changed motions.Considering the error propagation between the orientation and position calibration,the hand-eye relationship is further optimized.Scanning experiments are carried out for a standard sphere and a complex work-piece.The results show that the calibration method is simple,efficient and has high accuracy,and it is well suitable for the calibration work of on-line measurement system in industrial scenes.