Robot control apparatus judging restart of operation program

A robot control apparatus which controls a robot driven based on an operation program, the robot control apparatus comprising:

• a stop command unit which stops the robot on a basis of an external force;
• and
• a judgement value storage unit which stores judgement values relating to the external force, wherein
• the stop command unit includes an external force estimation unit which estimates the external force applied to the robot;
• the judgement value storage unit previously stores a stop judgement value for temporarily stopping the robot, a first external force judgement value smaller than the stop judgement value and for restarting driving of the robot, and a second external force judgement value smaller than the first external force judgement value;
• and
• the stop command unit performs control to temporarily stop execution of the operation program when the external force exceeds the stop judgement value during a period during which the robot is driven based on the operation program, and performs control to inhibit a restart of the execution of the operation program when, in a state where the execution of the operation program is temporarily stopped, the external force is continuously equal to or less than the first external force judgement value during a period of a predetermined first time length, and additionally, the external force continuously exceeds the second external force judgement value during a period of a predetermined second time length.