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To solve the problem that the inaccuracy of D-H model parameters and joint motor reduction ratios would reduce the absolute positioning accuracy of manipulator, proposed a solution based on the calibration of D-H model parameters with geometric analysis, and through analyzing the relationship between the actual joint rotation angle and the output value of the joint motor encoder, to calibrate the Joint motor reduction ratios. Counter the disadvantages of traditional joint angle error differential compensation method,by analyzing the differential relationship between pose matrix error of the end of manipulator and joint angle error to get joint compensation angle, the jacoby matrix calculation is avoided, and the calculation efficiency is improved. Finally, built a measurement system with 3D laser tracker, and accomplished the calibration and compensation experiment of a manipulator with 6 degrees of freedom. Result of the experiment shows that through parameter calibration and compensation, the average value of the absolute positioning error of the manipulator are reduced to 0.54 mm and 0.24° from the original 2.83 mm and 1.14°, which verifies the validity of the method.