Articulated robot

An articulated robot comprising:

• two arms being rotatably connected by a joint portion;
• a workpiece being positioned at a positioning portion of a workpiece positional deviation detecting means by a hand portion formed at an end of one of said two arms, which is located further than other, such that the amount of deviation in the position of said workpiece is detected;
• a positioning portion of said workpiece and a sensor portion for detecting positional deviations of said workpiece being formed on one of said two arms, which is located toward the bottom;
• and
• a detecting operation by said sensor portion and transfer of said first and second transferring portions being performed while said workpiece is positioned at said positioning portion.

An articulated robot comprising:

• a first rotational axis being formed at a position eccentric in relation to the rotational center of a turn table which being assigned as a first arm portion;
• an arm, which is rotatably supported by said first rotational axis, being assigned as a second arm;
• a third arm being rotatably supported at an end of said second arm;
• a hand portion being rotatably supported at an end of said third arm;
• and
• generation of singularities being prevented by separately controlling rotations of said first arm portion, said second arm said third arm and said hand portion.