Based on the complete differential-coefficient theory, the model of the pose errors expressed by the Rodrigues Parameters was established. By normalizing all error sources, the statistical model of sensitivity coefficients was obtained. Considering the sensitivity percentages, a kinematic calibration model with the successive approximation algorithm was achieved. The simulation shows that the algorithm is effective to study the calibration question and has concrete directivity, reducing the kinematic errors with high sensitivity percentage when optimizing iteratively.