In a shift correcting method of correcting a shift of a tool working position in a robot manipulation system, a working tool (7) is rotated around a tool longitudinal axis (m) as a rotating center axis on a tool coordinate system to change a posture of the working tool, and the working tool is moved in one direction toward a specified part of a contact detecting member (21) to be brought into contact therewith to detect a contact and the data of the detected contact position is stored to obtain a difference as a shift amount between the actual tool working position and a theoretical tool working position.