Determining a calibration position of a robot joint

A method for determining the calibration position of a robot joint comprising a moveable joint element and a stationary joint element, one of the robot joint elements comprising a holding structure fastened to a force receiving element stretching out across a gap between the two robot joint elements and the other comprising a force providing protrusion for providing a force on the force receiving element, the force receiving element being adapted to form a kinematic coupling with the holding structure and the force providing protrusion, the kinematic coupling having at least two points of contact between the holding structure and the force receiving element and one point of contact between the force providing protrusion and the force receiving element, the method being performed by a calibration control element using a robot controller and a motor connected between the robot controller and the moveable joint element, the method comprising the steps of:

• providing a movement command;
• obtaining measurements relating to positions of the moveable joint element;
• obtaining a contacting indication that is an indication of the force providing protrusion contacting the force receiving element;
• and
• determining the calibration position based on the contacting indication.