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A new approach to self-calibrate a camera-equipped robot manipulator is proposed in this paper. Self-calibration here means that the camera-robot system is capable of determining its geometric parameters without any external measurements and/or ground truth calibration data. With the proposed approach, one is able to identify all the rotational parameters and, up to a scale factor, all the translational parameters of a robotic system without any ground truth data. It is known from the computer vision literature that the extrinsic and intrinsic parameters of the camera can be obtained up to a scale factor by using the corresponding points of objects in a natural environment from an image sequence without knowing the positions of these object points. It is also well known that if the camera is treated as the tool of the robot, one is able to compute the corresponding robot pose directly from the camera-extrinsic parameters