To provide a robot arm with high controllability, and a method for controlling the same.

The robot arm having redundancy is equipped with: a force sensor 31 provided on a body side rather than an elbow part 16; and a control part 13 controlling a joint provided to the robot arm according to an output from the force sensor 31. The control part 13 calculates an elbow turning angle according to the output from the force sensor 31 by using an impedance model, and controls the joint to turn the elbow part 16 around the elbow turning angle based on the elbow turning angle by using inverse kinematics.