The robot position accuracy is measuring the robot pose error between the command distance and the actual distance. To improve the robot accuracy, it needs to compensate on robot kinematic parameters. Laser tracker was used to measure the robot distance error in this article. The mapping between the actual kinematic parameters and the robot distance error model was obtained. Some kinematic parameters in modified D-H kinematic model that Hayati proposed can not be identified, therefore, the condition number was introduced to identify the distance error matrix. Through computing the condition number, the unidentified kinematic parameters in distance error kinematic model was deleted. Ultimately, the robot kinematic model using the identified kinematic parameters was compensated. It improves the robot accuracy apparently.