With the wide application of robots in highend manufacturing industry, aerospace, medical care and other fields, the requirement of the full pose (position and orientation) accuracy is getting higher and higher. In this paper, laser tracker is used to measure the full pose of the robot endeffector. A robot accuracy improvement method is studied based on robot geometric parameter calibration. Firstly, the modified denavithartenberg (MDH) model of series robot is established. Secondly, an improved crow search algorithm (ICSA), which generates the initial positions of crows based on quasirandom sequences is proposed to optimize and calibrate the robot geometric parameters. The mathematical model of the objective function that is used to calibrate the robot geometric parameters with ICSA is established, and the detailed calibration steps are given. Finally, the Staubli Tx60 industrial robot was calibrated practically, the results prove that the proposed method can quickly calibrate the geometric parameters of the robot. After calibration, the average absolute position and orientation errors of the randomly selected test points in the robot workspace are reduced from 0309 6 mm and 0232 2° before calibration to 0092 6 mm and 0082 9° after calibration, and the accuracy is greatly enhanced. The proposed method is simple and easy to implement, and has high efficiency, strong robustness and good stability. The proposed method is suitable for the applications where the robots with both high position and orientation accuracies are required.