A new method of high-precision homing of getting the optimal homing path automatically has been put forward, and a high-precision visual optical robot system with multi-phalanges has been made. The principle of this method is to compare the position where the robot stops with where the home photosensor is set, thus getting the optimal homing path automatically. The home point depends on signals from the home photosensor and the photoelectric encoder. This robot system works stably in industrial works, and has up to 0.02 mm precision and up to 5.2 m/s speed. The experiments and test results show that, with this new method, the homing time could be as short as 10s for each axes, within 2 pulse’ homing error. As far as we know, it has never been reported home and abroad for this method or application in visual optical robot system with multi-phalanges successfully.