Based on application of the theory of multi body system and homogeneous transformation matrices, in combination with the C-A biaxial swinging five-axis machining center, the general volumetric error model of the machine tool was established. On the basis of this model, the algorithm of NC code correction and compensation was deduced, the software of error compensation was developed, and finally the process of error measurement and compensation was carried out. The Experimental conclusions show that the error models aimed at the C-A biaxial swinging five-axis machining center are valid, and the error compensation method is effective，by which the objective of error compensation are achieved.