A device for calibrating a multi-jointed robot mechanism, comprising: an aligning part for carrying out an alignment in which the position and the orientation angle of the robot are adjusted or aligned such that 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; and 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, corresponding to an actual usage environment of the robot, in order to carry out the alignment at a plurality of positions, characterized in that the device further comprises: a preliminary position determining part for automatically determining a plurality of preliminary positions for carrying out the alignment, based on the initial position designated by the initial position designating part, the first coordinate system and predetermined parameters, wherein the predetermined parameters are added to posture roll angle, pitch and yaw angle of the initial position; 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; 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; an evaluating part for evaluating, before the alignment is carried out, whether an accuracy of the calibration using one or more preliminary positions reaches a certain threshold, in relation to all of the preliminary positions including the corrected position by the position correcting part; and a redetermining part for redetermining one or more preliminary positions when the evaluating part evaluates that the accuracy of the calibration does not reach the threshold. an aligning part for carrying out an alignment in which the position and the orientation angle of the robot are adjusted or aligned such that 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; and 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, corresponding to an actual usage environment of the robot, in order to carry out the alignment at a plurality of positions, characterized in that the device further comprises: a preliminary position determining part for automatically determining a plurality of preliminary positions for carrying out the alignment, based on the initial position designated by the initial position designating part, the first coordinate system and predetermined parameters, wherein the predetermined parameters are added to posture roll angle, pitch and yaw angle of the initial position; 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; 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; an evaluating part for evaluating, before the alignment is carried out, whether an accuracy of the calibration using one or more preliminary positions reaches a certain threshold, in relation to all of the preliminary positions including the corrected position by the position correcting part; and a redetermining part for redetermining one or more preliminary positions when the evaluating part evaluates that the accuracy of the calibration does not reach the threshold. a preliminary position determining part for automatically determining a plurality of preliminary positions for carrying out the alignment, based on the initial position designated by the initial position designating part, the first coordinate system and predetermined parameters, wherein the predetermined parameters are added to posture roll angle, pitch and yaw angle of the initial position; 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; 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; an evaluating part for evaluating, before the alignment is carried out, whether an accuracy of the calibration using one or more preliminary positions reaches a certain threshold, in relation to all of the preliminary positions including the corrected position by the position correcting part; and a redetermining part for redetermining one or more preliminary positions when the evaluating part evaluates that the accuracy of the calibration does not reach the threshold.