Robot capable of autonomously grinding large-size free-form surface

The invention relates to a robot capable of autonomously grinding a large-size free-form surface, and belongs to the field of grinding robots. To solve the problems that in the prior art, the range of machining large-size non-structured surfaces is limited, the tail end pose of a grinding tool cannot be controlled in real time, and stable trace tracking control cannot be acquired under the conditions that the kinematics and the kinetic models of a robot and camera parameters are not determined, by applying the principle of a mobile operating robot, an original robot is modified reasonably, a grating ruler and a screw feeding mechanism of the robot are combined together, and after the robot reaches to the working position through a movable platform every time, to-be-manufactured surfaces are manufactured by the tail end of the grinding tool through a motion arm; orthogonal binocular stereo vision is adopted, a dynamic Look-and-move working mode is achieved through a control system of the robot, and traversal machining to a whole to-be-machined surface is achieved; and the robot can work autonomously, dynamically control the tail end pose of the grinding tool and control the contact force between the tail end of the grinding tool and the environment.