The invention discloses an industrial robot geometric parameter calibration method based on a position vector method. The industrial robot geometric parameter calibration method based on the positionvector method comprises the steps that a robot position vector model based on a basis coordinate system oxyz is established, and nominal values of a direction vector and a connection vector in a zerostate of a robot are found from a robot manual; groups of joint angles of the robot are randomly set on a demonstrator according to movement ranges of all joints given by the robot manual, and all thejoints of the robot are controlled to move to the groups of joint angle values qij which have been set; a laser tracker is used for detecting a target which is installed at the tail end G of the robot, and a tail end posture and position data of a measured robot are obtained; and an objective function Ej of the geometric parameter calibration of the robot is established, and a genetic algorithm is used for solving the objective function Ej so as to obtain an optimal solution of the direction vector and the connection vector of the measured robot. According to the industrial robot geometric parameter calibration method based on the position vector method, the problem of singularity caused by parallel and vertical adjacent joints is solved, and meanwhile, an industrial robot geometric parameter calibration error optimization objective function is built based on the model.