PROBLEM TO BE SOLVED: To provide a robot device capable of continuing a work process of a robot arm until a new robot arm is ready without stopping the operation of a production line when the degree of abnormal damage is small and corrective operation is possible. A motor, a speed reducer that decelerates a rotation output of the motor to operate a joint, a first encoder that detects an input side rotation angle that is a rotation angle of a rotation shaft of the motor, and an output shaft of the speed reducer. And a second encoder that detects an output side rotation angle that is a side rotation angle, and a robot apparatus including a control unit. The control unit has a storage unit that stores a permissible error of the joint error that occurs in the speed reducer, and calculates the joint error from the angular difference between the input side rotation angle and the output side rotation angle. Further, when the joint error calculated by the control unit is larger than the allowable error, a correction amount for reducing the joint error by causing the robot to perform the first motion is obtained. Then, the robot is caused to perform the second operation based on the correction amount. [Selection diagram] Fig. 4
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