Laser distance measurement devices used for the space calibration and positioning of manipulators are easily affected by factors such as the work environment owing to their insufficient ranging accuracies. This leads to inaccurate measurements and shortcomings in the space calibration and positioning of manipulators. This article presents a phase laser ranging system based on the all-phase Fourier transform (apFFT). The proposed system uses the apFFT algorithm for phase discrimination and obtains the real-time measured distance. Compared with the Fourier-transform-based traditional phase laser ranging method, the proposed method can effectively suppress the spectrum leakage caused by various factors in practical applications. The experimental results reveal that the system exhibits good stability and can suppress spectrum leakage. Furthermore, the average positioning accuracy of the proposed system can reach 1 mm, which satisfies the requirements of actual industrial manufacturing.