Abstract: A method of robot kinematics parameters calibration based on error model is proposed, which separates positional parameters and angle parameters in calibration process. Robot kinematics equations are built using MCPC (modified complete and parametrically continuous) method, while kinematics error model relative to inertial coordinate system is derived. On the basis, the separated kinematics parameters calibration method is put forward. In order to solve the problems caused by joint angle error during calibration process, experimental methods for robot kinematics calibration based on joint angle correction are designed systematically. The effectiveness of the mentioned methods is verified by experiment results.