Abstract: In order to overcome the difficulties in measuring the six-dimensional pose of robot,an indirect method to get the pose data is presented,and the application condition is given also.Based on this method,the six-dimensional pose can be obtained with the six relative displacements in a single direction of the six target points.Furthermore,system errors of the measuring tools can be eliminated automatically.The influence of geometric errors on measurement accuracy is analyzed,and the error influence matrices are obtained to provide a guide to error compensation.Finally,a pose measurement experiment with a 6-DOF parallel simulator validates the effectiveness of the method.