The geometrical accuracy of a machined feature on a workpiece during machining processes is mainly affected by the kinematic chain errors of multi-axis CNC machines and robots, locating precision of fixtures, and datum errors on the workpiece. It is necessary to find a way to minimize the feature errors on the workpiece. In this paper, the kinematic chain errors are transformed into the displacements of the workpiece. The relationship between the kinematic chain errors and the displacements of the position and orientation of the workpiece is developed. A mapping model between the displacements of workpieces and the datum errors, and adjustments of fixtures is established. The suitable sets of unit basis twists for each of the commonly encountered types of feature and the corresponding locating directions are analyzed, and an error elimination (EE) method of the machined feature is formulated. A case study is given to verify the EE method.