A robot positioning device for identifying the kinematic parameter of a robot model and using the identified model to control the robot position. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine calibration end-effector locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated kinematic model relating robot joint positions to end-effector locations based at least in part on the end-effector calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive an end-effector goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the end-effector goal location and the calibrated kinematic model.
