Posture adjustment method and device, robot mechanism, electronic equipment and storage medium

The invention discloses a posture adjustment method and device, a robot mechanism, electronic equipment and a computer storage medium. The posture adjusting method is used for adjusting the operation posture of a tail end tool of a robot mechanism and comprises the steps that after the robot mechanism completes teaching at a teaching point position, the initial posture of the tail end tool is obtained; after it is determined that the end tool deviates, the current posture of the end tool is adjusted to the target posture based on the initial posture. In this way, the teaching efficiency of the robot end tool can be improved. 本申请公开了一种姿态调整方法及装置、机器人机构、电子设备及计算机存储介质。该姿态调整方法用于调整机器人机构的末端工具的作业姿态，该姿态调整方法包括：当机器人机构在示教点位完成示教后，获取末端工具的初始姿态；确定末端工具发生偏移后，基于初始姿态，调整末端工具的当前姿态至目标姿态。通过这种方式，能够提高机器人末端工具的示教效率。