Robot apparatus, control method for controlling the same, non-transitory computer-readable recording medium, manufacturing system, and method for manufacturing an article

A robot apparatus comprising:

• a robot arm comprising a joint and links connected via the joint;
• a first encoder configured to detect information related to a position of the joint;
• and
• a second encoder configured to detect information related to the position of the joint independently from the first encoder, the second encoder comprising:
• a scale in which a pattern is formed;
• and
• a detector configured to relatively move with respect to the scale in a case where the joint operates, the detector being configured to detect position information of the joint by reading the pattern of the scale;
• and
• a controller configured to control an operation of the joint of the robot arm on a basis of detection results of the first encoder and the second encoder, the controller being configured to, in a case where a reading error occurs in the detector of the second encoder, execute encoder redetection processing of driving the joint of the robot arm on a basis of the detection result of the first encoder and redetecting the position information by the second encoder.