A method for adjusting a torque sensor (D2, D3) of a robot arm , the robot arm being designed as an open kinematic chain, a fastening device for fastening an end effector , several joints (J1- J7), and a plurality of links (G1-G8) arranged one after the other and connected by means of the joints (J1-J7), one of the links (G1-G8) being an initial link (G1) forming a start of the robot arm and another of the links is an end link (G8) which forms one end of the robot arm , and the end link (G8) comprises the fastening device , and the joints (J1-J7) each have an axis of rotation (A1-A7) is assigned and the links (G1-G8) are movable relative to each other with respect to the axes of rotation (A1-A7), part of the axes of rotation (A1, A3, A5, A7) as rolling axes and a further part of the axes of rotation (A2, A4, A6) are designed as tilt axes, and at least the joint between the end link (G8) and the end link (G8) upstream link (G7) assigned axis of rotation (A7) and the axis of rotation (A1) assigned to the joint between the initial link (G1) and the initial link (g1) directly downstream link (G1), are designed as rolling axes, and the Torque sensor (D2, D3) is provided to measure a torque which is assigned to one of the axes of rotation (A1-A7), having the following method steps: - measurement of a first torque, which is assigned to the axis of rotation (A2, A3) assigned to the torque sensor (D2, D3), in a first position of the robot arm provided for adjusting the torque sensor (D2, D3) and by means of the torque sensor (D2, D3), - rotation of a link (G2, G4) around an axis of rotation (A1, A7) designed as its roll axis by 180°, in particular controlled by the control device , so that the robot arm is used for adjusting the torque sensor (D2, D3) provided second position is aligned, the link (G2, G4) rotated by 180° being rotated about a different axis of rotation than the axis of rotation assigned to the torque sensor (D2, D3), - measuring in the second position and by means of the torque sensor (D2, D3) of a second torque which is assigned to the axis of rotation (A2, A3) assigned to the torque sensor (D2, D3), - determining an offset torque of the torque sensor by calculating the arithmetic mean value of the measured first and second torque, and - adjustment of the torque sensor (D2, D3) depending on the calculated offset torque. - measurement of a first torque, which is assigned to the axis of rotation (A2, A3) assigned to the torque sensor (D2, D3), in a first position of the robot arm provided for adjusting the torque sensor (D2, D3) and by means of the torque sensor (D2, D3), - rotation of a link (G2, G4) around an axis of rotation (A1, A7) designed as its roll axis by 180°, in particular controlled by the control device , so that the robot arm is used for adjusting the torque sensor (D2, D3) provided second position is aligned, the link (G2, G4) rotated by 180° being rotated about a different axis of rotation than the axis of rotation assigned to the torque sensor (D2, D3), - measuring in the second position and by means of the torque sensor (D2, D3) of a second torque which is assigned to the axis of rotation (A2, A3) assigned to the torque sensor (D2, D3), - determining an offset torque of the torque sensor by calculating the arithmetic mean value of the measured first and second torque, and - adjustment of the torque sensor (D2, D3) depending on the calculated offset torque. <EOS>