Robot apparatus

A robot apparatus comprising:

• a manipulator including an arm and a hand;
• a teaching apparatus provided with a touch panel or a button;
• and
• a control apparatus configured to control the manipulator by transmitting, based on a manipulation performed on the touch panel or the button of the teaching apparatus, a control signal to the manipulator,
• wherein, based on the manipulation performed on the touch panel or the button of the teaching apparatus, the control apparatus transmits, to the manipulator, a control signal for switching an operation speed of the manipulator from a regular speed, which is a speed in a regular operation status to a speed lower than or equal to a safety speed, which is a speed in an erroneous manipulation avoiding status,
• wherein transition from the erroneous manipulation avoiding status to the regular operation status is performed based on an actual performance in which the manipulator is operated for a preset time or longer, is performed based on an actual performance in which the manipulator is operated by a preset distance or farther, or is performed by selecting a coordinate serving as a reference for an operation direction of the robot apparatus.