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Traditionally, the initial pose of a robot manipulator has been done manually. The process must be repeated for each operations and each time a robot is replaced. Hence, pose measurement is needed. In this paper, a camera mounted on the end-effector is employed. Firstly, the position and orientation of camera with respect to the end-effector is solved through AX = XB composition, which is known as hand-eye calibration. However, this paper proposed a modification with an alteration of notation for A and B in prior. An iterative approach is utilized to obtain X. Afterward, multi-stage and one-stage iterative approaches are proposed in pose measurement to eliminate angle displacements on each joint. The first one uses composition as in hand-eye calibration for each joint from the end-effector to robot base. The second one uses one iterative process to solve the entire angle displacements. Simulated data is presented for both results.