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This paper proposes a novel systematic technique to estimate entire kinematic parameter errors of robot manipulator. Small errors always exist in link length and link twist for physical manipulators, which affect the precision in kinematic equations leading to calculate wrong joint angle values in inverse kinematic equations. In order to solve these problems, the proposed technique employs a structured laser module (SLM), a stationary camera, the Jacobian matrices, and an extended Kalman filter (EKF). The SLM is attached to the end-effector of the manipulator arm and the stationary camera is used to determine an accurate position where the laser comes out. Variances between actual and measured positions of laser beams are represented by the Jacobian matrices formulated from differential kinematics. Then, the EKF is used to estimate kinematic parameters. Effectiveness of the proposed technique is verified with 7 DOF humanoid manipulator arm by computer simulation and 4 DOF manipulator by actual experiment.