A robot calibration apparatus and a robot calibration method. The robot calibration apparatus includes:
a measurement jig including a plurality of reference points of which positions are pre-known, one or more reference lines of which linear equations are pre-known, and one or more reference planes of which plane equations are pre-known relative to a reference coordinate system of the measurement jig, wherein arbitrary points from among the plurality of reference points, the plurality of arbitrary points on the one or more reference line, and the plurality of arbitrary points on the one or more reference plane are set as measurement points;
a sensor coupled to a robot and measuring positions of a plurality of measurement points selected from among the measurement points on the measurement jig;
and a control unit controlling the calibrated robot after calibrating the robot based on a plurality of pieces of calibration data including position information of the plurality of measurement points measured by the sensor, wherein at least one measurement point from among the plurality of measurement points is arranged on the reference line or the reference plane. Accordingly, the robot can be calibrated by using information of measuring an arbitrary position on the reference line or reference plane on the measurement jig, and thus limitation to the measurement posture of the robot can be remarkably reduced while measuring the positions of the measurement points, the position information of the measurement point can be easily obtained, and the robot calibration apparatus can be easily applied to a production line.