Robot control apparatus, robot system, robot control method and assembly manufacturing method

A robot control method configured to control a robot by an instruction portion configured to instruct an operation of a robot in accordance with a robot program, and a control portion configured to perform feedback control of the operation of the robot in accordance with an instruction from the instruction portion, based on a torque sensor value of the robot and an encoder value of the robot, the robot control method comprising:

• transmitting, by the instruction portion, a switching condition to the control portion configured to perform feedback control in accordance with the robot program;
• transmitting, by the control portion, information indicating that a status of the robot has matched the switching condition to the instruction portion in a state where the status of the robot matched the switching condition;
• transmitting, by the instruction portion, an operation command corresponding to the information to the control portion;
• and
• switching, by the control portion, the operation of the robot in accordance with the operation command.