Abstract: The initial accuracy of a robot arm depends not only on the hardware’s manufacturing and assembly quality but also on control strategies. During assembly or regular maintenance, the kinematic accuracy of a robot arm needs to be verified and calibrated to maintain the desired quality. In this study, we present a method to determine and correct the robot kinematic error based on the shape function interpolation technique. Experimental research was applied to aABB robot with six degrees of freedom to verify the correctness of the method. The results indicated that the position errors of the end-effector were significantly reduced. The effectiveness of the proposed interpolation method and combined error compensation algorithm demonstrated that practical application is feasible.