Robot control apparatus and robot control method

A robot control apparatus that synchronously drives a first robot and a second robot different from the first robot, the robot control apparatus comprising:

• a positional-relation-matrix generating unit that generates, on the basis of N first command values for learning per one robot, which are position-corrected command values for positioning the first robot and the second robot on tracks of the first robot and the second robot during the synchronous driving, concerning the respective N first command values for learning, positional relation matrices for defining a positional relation during the synchronous driving between a first command value for learning related to the first robot and a first command value for learning related to the second robot;
• a first command-value output unit that outputs a first command value for driving at each of M (M>N) operation periods, which is a command value for defining the track of the first robot;
• a positional-relation-matrix interpolating unit that interpolates the N positional relation matrices and generates a positional relation matrix at the each first command value for driving;
• and
• a second command-value generating unit that causes the positional relation matrices corresponding to the M first command values for driving after the interpolation to act on the respective M first command values for driving and generates M second command values for driving, which are command values for defining the track of the second robot, wherein
• the robot control apparatus drives the first robot on the basis of the first command values for driving and drives the second robot on the basis of the second command values for driving.