Calibration device and method for robot mechanism

A device for calibrating a multi-jointed robot mechanism, comprising:

• an aligning part for carrying out an alignment in which the positional relationship between a first coordinate system fixed to a part of a robot and a second coordinate system fixed outside of the robot satisfies a predetermined condition;
• an initial position designating part for designating a position of the robot as an initial position, where the positional relationship between the first and second coordinate systems generally satisfies a predetermined condition, in order to carry out the alignment at a plurality of positions;
• a preliminary position determining part for automatically determining a plurality of preliminary positions for carry out the alignment, based on the initial position designated by the initial position designating part, the first coordinate system and a predetermined parameter;
• a judging part for judging, before the alignment is carried out, whether each of the plurality of preliminary positions determined by the preliminary position determining part is included in an operation range of the robot;
• and
• a position correcting part for correcting one or more preliminary position which is judged not to be included in the operation range of the robot, such that the one or more preliminary position is included in the operation range of the robot.