Coordinate measuring machine for determining at least one spatial coordinate of a measurement point on an object, the coordinate measuring machine comprising a structure movably connecting a probe head to a base, the structure comprising a plurality of rotary joints (20a-c) and a plurality of elongate components, the components comprising a plurality of links (10a-c), wherein at least one rotary joint - movably connects two of the components with each other, - comprises a driving unit comprising a motor to actuate the connected components relative to another, and - comprises a measuring unit comprising one or more sensors to determine at least one angle between the connected components and to generate angular data, wherein the coordinate measuring machine comprises a control unit configured - to control the motor of each driving unit for driving the probe head relative to the base for approaching the measurement point, - to receive the angular data, and - to determine the at least one spatial coordinate of the measurement point based on the angular data, characterized in that the control unit has access to distortion information about distortions occurring in the components and/or joints under a multitude of different distortion-influencing conditions of the structure, wherein the conditions comprise at least a current pose (50a-b) of the structure that is defined by the angles between the components, the distortion information comprising pose distortion information for a multitude of different poses (50a-b) of the structure, the control unit being configured - to receive pose distortion information for the current pose (50a-b), - to determine a current pose distortion based on the pose distortion information for the current pose (50a-b), the pose distortion being a distortion of the structure due to the pose (50a-b), - to determine a current overall distortion of the structure based at least on the current pose distortion, and - to determine the at least one spatial coordinate also based on the current overall distortion of the structure. - movably connects two of the components with each other, - comprises a driving unit comprising a motor to actuate the connected components relative to another, and - comprises a measuring unit comprising one or more sensors to determine at least one angle between the connected components and to generate angular data, wherein the coordinate measuring machine comprises a control unit configured - to control the motor of each driving unit for driving the probe head relative to the base for approaching the measurement point, - to receive the angular data, and - to determine the at least one spatial coordinate of the measurement point based on the angular data, characterized in that the control unit has access to distortion information about distortions occurring in the components and/or joints under a multitude of different distortion-influencing conditions of the structure, wherein the conditions comprise at least a current pose (50a-b) of the structure that is defined by the angles between the components, the distortion information comprising pose distortion information for a multitude of different poses (50a-b) of the structure, the control unit being configured - to receive pose distortion information for the current pose (50a-b), - to determine a current pose distortion based on the pose distortion information for the current pose (50a-b), the pose distortion being a distortion of the structure due to the pose (50a-b), - to determine a current overall distortion of the structure based at least on the current pose distortion, and - to determine the at least one spatial coordinate also based on the current overall distortion of the structure.