Kaman, who missed the first two games of the season due to a strained right calf, plans to play in Saturday night's home opener against the Charlotte Bobcats.
Kaman, 30, was a full participant in practice Friday for the first time since straining the calf on Oct. 17.
The Mavs waited to see how the calf responded to a day of work before declaring the 7-footer fit to play.
Durability is the biggest concern about Kaman, a skilled big man who signed a one-year, $8 million deal with the Mavs this offseason. He missed a total of 152 games over the previous five seasons due to a variety of injuries.
Backup point guard Rodrigue Beaubois is a game-time decision after twisting his left ankle during Friday's practice. The oft-injured former first-round pick missed four preseason games after spraining that ankle.