According to the present disclosure, disclosed is a method for correcting a robot control signal, the method comprising the steps of: for each of at least one driving axis of a robot, obtaining, on the basis of an inverse driving model of the robot, an initial input rotation angle with respect to a target rotation angle; obtaining, on the basis of a driving model of the robot, a predicted rotation angle with respect to the initial input rotation angle; and correcting the initial input rotation angle on the basis of an error between the predicted rotation angle and the target rotation angle.
