A four-point perspective correction method based on random sample consensus (RANSAC) improved generalized iterative closest point (GICP) point cloud registration algorithm is proposed to solve the problem of the deviation of the grasping points caused by the machining error of the tray, the positioning error and the absolute positioning accuracy deviation of the robot during the orderly grasping process. Firstly, the positioning hole contour and the initial center coordinates are extracted by point cloud processing technology, and the accurate center coordinates are extracted by the improved GICP point cloud registration algorithm. Secondly, the perspective transformation matrix is used to correct the deviation of each grasping point on the tray. Finally, the robot is controlled to grasp according to the corrected point. The experimental results show that in the point cloud registration, the maximum deviation range of the extracted center of the circle decreases from ［1.5 mm, 2.8 mm］ to ［1.2 mm, 1.6 mm］; in the point correction, the four-point perspective correction reduces the maximum deviation in the XY direction of different grasping points from 3.1 mm to 1.1 mm. And in the workpiece grasping experiment on a fully loaded tray, the maximum deviation in the XY direction is 1.0 mm. In summary, the method proposed in this paper can effectively correct the workpiece grasping point, improve the success rate and reliability of grasping, and meet the actual production needs.