Position and orientation accuracy of the end-effector is influenced by the
precision of kinematic parameters elements of the robot. Thus, good precision
requires good knowledge of robot"~hysical parameters values. Howevk this
condition can be difficult to meet ii practice. Hence, calibration techniques can
be devised in order to improve the robot accuracy through estimation of those
particular parameters. In this paper, the Genetic Algorithm (GA) is'used to
calibrate the robot kinematic accuracy. A kinematic model is formulated and
conducted as an optimization problem for serial robot manipulators. The
objective is to analyze and evaluate the performance of the GA in optimizing
such robot kinematic accuracy. In this algorithm, the errors in the robot
parameters represent the phents and offspring population and the error matrix
norms represent the cost functions. The convergence and &ectiveness of the
presented model are demonstrated by a numerical example.