To improve a robot’s absolute positioning accuracy, researchers have extensively studied the robot kinematic model containing position and orientation errors of rotary axes average lines, widely known as Denavit–Hartenberg (D-H) parameters. To further improve the absolute positioning accuracy of industrial robots, this paper proposes a novel kinematic model and its identification scheme. The proposed kinematic model for a serial-linked industrial robot contains the bidirectional angular positioning deviations of each rotary axis, represented in a lookup table, in addition to its D-H parameters. The angular positioning deviations of the rotary axes are modeled as a function of angular command positions, along with the direction of rotation to model the influence of backlash. This paper also proposes a novel approach to identify the proposed kinematic model with the bidirectional angular positioning deviations using a laser tracker with indexing each rotary axis at specified angular positions (“circle point method”). Moreover, the model-based compensation technique is being experimentally investigated to validate the prediction accuracy of the proposed model. The findings o f t he experiment showed t hat t he proposed model enhances the robot’s absolute positioning accuracy significantly over the entire workspace.