The invention relates to a method and a arrangement for calibrating a kinematics and a corresponding computer program and a corresponding computer-readable storage medium, which especially can be applied to extend the calibration to classes of parallel and serial robots, which have not been constructed especially for achieving the greatest possible accuracies, but which preferably have a high reproducability.To this end, there is proposed a method which includes the following steps: Moving the kinematics in that way that the kinematics takes a set of poses with a prescribed accuracy, Determination of first configuration vectors by reading of the data describing actuator excursions in the particular poses, Determination of a function for the transformation of the configuration space by evaluating of the first and the second configuration vectors, where the second configuration vectors are mapped each by a control function to one of the poses, and Definition of a calibrated control function by successively executing of the function for the transformation of the configuration space and then of the control function.