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Aimed at the tedious error modeling and parameters identification in the process of robot calibration, establishing parameter error equations directly based on relative distance error using the kinematics model considering the parameters error was proposed. The hybrid genetic algorithm was adopted to solve the equations. As the given calculation example, the feasibility of identification parameters error using different measured data (complete distance info or incomplete distance info) was analyzed by numerical simulation. The results show that the robotic kinematics parameters error can be obtained if the data were measured enough. This result provides a theoretic support for using of incomplete distance measuring method in robot calibration process.  