Robot controlling method, robot apparatus, program and recording medium

A robot controlling method in which a robot hand is attached to an end portion of a robot arm having a plurality of joints, each of the joints of the robot arm having a joint driving apparatus driven by a motor and a joint angle detecting unit, the end portion being rotatable around an end axis, and a control apparatus that controls an operation of the robot arm, based on trajectory data for performing the operation, comprising:

• the control apparatus making the robot hand grip a symmetrically shaped member having such a shape as to be rotationally symmetric with respect to a central axis of the symmetrically shaped member;
• the control apparatus controlling the operation of the robot arm so that the robot arm keeps a force of striking the symmetrically shaped member against a reference member constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery of the symmetrically shaped member, which is gripped by the robot hand, strike against the reference member;
• the control apparatus acquiring a detection result which has been detected by the joint angle detecting unit of each of the joints when the end portion of the robot arm is rotated in the controlling the operation of the robot arm;
• and
• the control apparatus calculating a correction amount of the trajectory data based on the detection result, and correcting the trajectory data, based on the correction amount.