To solve the problem of obtaining the servo motion anglequickly and accurately in the process of tracking recovery of laser tracker,this article proposes a calculation method of servo motionangle for tracking recovery of laser tracker. Firstly, the principle of tracking recovery of laser tracker based on active infrared detectionand the characteristics of visual target detection of cooperative target are expounded, and the problem of nonlinear change of servo motion angle caused by the non-coaxis and non-parallel problem of optical axis and visual axis in the tracking recovery process is analyzed.Secondly,the calculation model of the relationship among the target distance, the target pixel deviation value and the servo motion angle is formulated, and the model parameter tuning based on the tuning data is completed. Finally, the verification experiment and the accuracy analysis are carried out. The results show that the difference between the tracking recovery angle obtained by the calculation model and the actual tracking recovery angle is not more than 0.007 7°, and the maximum offset distance error is less than 2 mm,whichmeet the application requirements of laser tracker tracking recovery.