Method of correcting position of robot and robot

A method of correcting a position of a robot,

• the robot including:
• a base;
• an arm that is formed by connecting at least two links and connected to the base;
• a hand that is connected to the arm and includes a first front end and a second front end that are bifurcated;
• a sensor that is configured to propagate detection light between the first front end and the second front end and to detect whether a target blocks the detection light;
• and
• a controller that controls operation of the arm and the hand,
• a plurality of rotation axes being set so as to be parallel to each other at each of a plurality of connection portions,
• the plurality of connection portions including a connection portion of the base and the arm, a connection portion of two adjacent links among the links constituting the arm, and a connecting portion of the arm and the hand,
• assuming that three of the rotation axes are a first axis, a second axis, and a third axis in order from the rotation axis closest to the base, the method comprising:
• a step of opposing the hand to the target by moving the hand such that the hand becomes in a predetermined first initial posture;
• a first position detection step of detecting a rotation angle of the rotation axis when the target blocks the detection light by swinging the hand;
• a step of opposing the hand to the target by moving the hand such that the hand becomes a predetermined second initial posture different from the first initial posture;
• a second position detection step of detecting the rotation angle of the rotation axis when the target blocks the detection light by swinging the hand;
• and
• a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on a difference between the rotation angle of the rotation axis acquired in the first initial posture and the rotation angle of the rotation axis acquired in the second initial posture.