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There are installation errors in each sliding table in precision assembly equipment, which affect the assembly accuracy; At present, the microscopic vision system integrated in the assembly equipment is mostly used for linear calibration with the help of a special calibration board; However, the error parameters in this method are sequentially calibrated and the solution is correlated, which can not avoid the problems of error transmission and accumulation, and the space of precision assembly equipment is limited, so the calibration board is generally difficult to install; Therefore, based on the precision pendulum assembly equipment, a general self-calibration method is proposed. This method does not use calibration board and only requires the visual system to track several arbitrary points of fixed features of the equipment itself in the assembly workspace, and then combine with particle swarm optimization (PSO) to complete the unified solution of the error parameters, and finally realize error compensation based on the derived error compensation model. The image coordinates in the compensation model correspond to the motion pulse of the sliding table one by one, and the mapping from the geometric domain to the control domain is realized. Experiments show that the accuracy and stability of this method are obviously improved compared with linear calibration, and the calibration accuracy is less than 5 μm, which provides a simple and effective calibration scheme for precision assembly equipment.