In order to improve the absolute positioning accuracy and calibration efficiency of industrial robots,a kinematic calibration method based on pre-calibrated base coordinate system and modified iterative extended Kalman filter (MIEKF) algorithm was proposed.The advantages of this method were that the collected position data were used for pre-calibration of the base and tool coordinate systems to save the time for fitting both.The correlation coefficient and the multicollinearity analysis were used to remove the redundant parameters of the model when building the position error model,and the MIEKF algorithm was used to identify the geometric parameter errors of the model.The absolute positioning accuracy of the robot after compensation is improved by 88.07% as verified by experimental comparison.