This paper presents an efficient, noncontact measurement technique for the automatic identification of the real kinematic parameters of an industrial robot. The technique is based on least-squares analysis and on the Hayati and Mirmirani kinematic modeling convention for closed kinematic chains. The measurement system consists of a single camera mounted on the robot's wrist. The camera measures position and orientation of a passive target in six degrees of freedom. Target position is evaluated by applying least-squares analysis on an overdetermined system of equations based on the quaternion representation of the finite rotation formula. To enhance the accuracy of the measurement, a variety of image processing functions including subpixel interpolation are applied.