Abstract: Robotic manipulator kinematics calibration is of great significance to improve the absolute positioning accuracy, and it has become the target of extensive research to explore the efficient method of robotic manipulator calibration. In this article, calibration methods are classified into model-based parameter kinematics calibration, autonomous calibration and non-parametric kinematics calibration. It introduces the research status of the model-based parameter kinematics calibration from kinematics calibration modeling, measurement of terminal  attitude, parameter identification and error compensation. After comparing the various calibration methods, their advantages and disadvantages are extracted. Finally, the problems existing in the robotic manipulator kinematics calibration are analyzed and the future development trend of the calibration technique is prospected.

Key words: Manipulator, Kinematics, Calibration, Research status