In order to improve the absolute positioning accuracy of the robot, a kinematic calibration method based on the Articulated Coordinate Measuring Machine(ACMM) is proposed in this paper. To identify the kinematic parameters, kinematic model based on D-H(Denavit-Hartenberg) and kinematic calibration model based on distance errors are established. Then, the ACMM is used as the measurement instrument in the calibration process. Finally, the kinematic parameters are identified by the Extended Kalman Filter(EKF) algorithm. Experiments have been carried out in this paper, the experimental results show that this method is suitable for the identification of robot kinematic parameters and can effectively improve the absolute positioning accuracy of the robot.