The invention disclosed an error modeling method for six degree-of-freedom robot end effector space-curve trajectory. More specifically, the invention is focused on end effector continuous space-curve trajectory tasks, and provides an error model taking into account of the influence of interpolation algorithm and joint linkage parameter error. This method selects key trajectory points on the ideal trajectory and by inverse solution converts them to the joint space, and performs interpolation; meanwhile the linkage parameter error taken into account to obtain the actual end effector position. The distance from the planned trajectory point to the ideal trajectory curve is used as the comprehensive error to reflect the deviation from the planned trajectory to the ideal trajectory. A simple and practical error model is obtained, which provides a theoretical basis for controlling the end effector-tracking accuracy.