Positioning method and positioning device

A positioning device comprising:

• a robotic arm that grips at least one of first and second workpieces;
• and
• a central processing unit, wherein the central processing unit is configured to perform operations including:
• obtaining point group data of the at least one gripped workpiece of the first and second workpieces, wherein the point group data refers to multiple points on the at least one gripped workpiece;
• calculating a translation matrix of shape fitting point group data obtained by adjusting a position of the point group data to reference data in a position adjustment state of the first and second workpieces;
• and
• calculating an inverse matrix based on the translation matrix,
• wherein the robotic arm positions the first and second workpieces by moving the at least one gripped workpiece of the first and second workpieces based on at least one of the translation matrix and the inverse matrix, and
• wherein the central processing unit is configured to perform further operations including moving the shape fitting point group data based on the inverse matrix, moving an origin of the reference data together at a time of the movement, and matching moved origins of the first and second workpieces.