Abstract: The present disclosure provides a joint parameter calibration method and system for a mobile robot, a device, and a storage medium. The method includes the following steps: step S100, causing the mobile robot to travel along a path passing through all modes, and correspondingly recording positioning trajectory data of a positioning sensor and data of a motor encoder; step S200, deducing ideal trajectory information of the mobile robot by the data of the motor encoder in combination with a kinematic model of the mobile robot; and step S300, converting the positioning trajectory data into trajectory information of the mobile robot according to a mounting position of the positioning sensor, and then performing least squares problem solving after performing differential alignment with the ideal trajectory information to acquire calibrated kinematic parameters of the mobile robot and mounting parameters of the positioning sensor, thereby realizing automatic calibration in one step.