Industrial robot calibration is a very important tool when extra precision and repeata- bility is required, also to make it possible to change robot without reprogramming. The difference between the virtual robot and the real robot can be as much as 8-15mm [1]. Presently used methods for calibration are both expensive and time-consuming. This the- sis will test a method of calibration that is simple and cheap, using kinematic coupling. The repeatability of the calibration and improvements to the method have been investi- gated, as well as the impact of lost-space motion at different positions of the robot. The thesis shows that the precision of the robot when coupling is better than ±0.05mm. A problem with backlash in a gearbox was solved using statistical method and by adding an external force affecting the coupling. Also a simulation of the coupling is developed to more easily identify errors in any axis.