5">The aim of this paper is to propose an online self-calibration method which is used to estimate the kinematic parameters errors of the serial robot manipulators.

A position marker and IMU are solidly fixed at the robot end-effector (EE) to determine the position and the orientation in real time.

5">FQA and CMAC are used to eliminate the influence of the noises and the measurement errors from the sensors.

The errors between the actual and the nominal kinematic parameters of the robot manipulator could be identified by the Unscented Kalman Filter (UKF).

5">This method only takes several uncomplicated steps but performs with high autonomy and accuracy.