1. A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot, the method comprising: mounting a measuring tip on or in the vicinity of the robot, providing at least one geometrical structure comprising a part of the robot or a calibration object mounted on or in the vicinity of the robot, moving the robot by the operator such that the measuring tip is in contact with a plurality of measuring points on a surface of the at least one geometrical structure, reading and storing with the robot positions of the actuators for each of the plurality of measuring points on the surface of the at least one geometrical structure, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.