The method for initially setting a position of an origin of an actuator includes a first step of setting a distal end posture being a posture of a distal end side link hub relative to a proximal end side link hub of a link actuator to a specified posture; a second step of applying a preload, which is a force that causes the distal end posture to be changed, to the link actuator having the distal end posture being the specified posture; and a third step of storing an amount of operation of each actuator in a state where the preload is applied to the link actuator, wherein the stored amount of operation is set as the position of the origin of the actuator.