To measure a force and moment acting on a link and a joint of an articulated robot.

The articulated robot includes: a distortion generation member 190 which is disposed at a joint part and fixed to each of a drive shaft on a driving force generation side and an output shaft 176 on the link 174 side as a driving force output destination, at positions away from their respective axes, to generate a bending distortion elastically according to a couple of forces acting on the positions; and a distortion sensor disposed in contact with the distortion generation member 190 to detect the bending distortion. A measurement control means includes an arithmetic means, which calculates a load torque generated axially around the joint part from an output value from the distortion sensor and converts the load torque of the joint part into a force which acts on the link according to the principle of virtual work.

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