In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a 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 goal location and the calibrated model.