Fixing the monocular camera and the inertial measurement unit (IMU) on the end of the robotic arm is an effective method torealize the motion estimation and scene perception. Reliable and aceurate calibration hetween monocular camera, IMU and robotie arm isthe prerequisite for realizing follow-up perception. However, traditional calibration method has the problems of large coupling error, poorcalibration consisteney and insufficient 6-DOF exeitation. Therefore,this paper proposes a novel monocular camera-IMU-mamipulatorspace joint ealibration method, which can completely decouple the errors of the rotation component and the translation component. At thesame time, this paper innovatively designs a spiral motion trajectory to ealibrate the perception module. Using such a calibrationtrajectory can avoid the problems of insufficient 6-DOF excitation and poor consisteney in traditional calibration methods. In theexperimental link, a monocular camera-IMU-manipulator space joint ealihration platform is built, and the mot mean square errors of yaw-pitch-roll rolation and x-y-z translation are ealeulated to be less than 0.7°and 7 mm, respectively, which proves the effeetiveness of thecalibration method proposed in this paper.