This paper describes the design of an optical metrology system for fiber positioners. The system can be used for accurate calibration and verification of fiber positioners with SCARA-like RR planar kinematics. It is capable of measuring accurately the absolute position and tilt of the fiber tip over the whole workspace of the positioner. The metrology system works by back illuminating the optical fiber of the positioner with a laser. The position and tilt of the exiting cone at the tip of the fiber is measured with two optical cameras.