This invention comprehensively detects an operational abnormality caused by a disturbance factor such as contact of a robot arm. A robot device according to the present embodiment is equipped with an articulated arm mechanism, and includes: a plurality of links; a plurality of joints (J1 to J6) interconnecting the plurality of links; a plurality of motors (310 to 360) that generate motive power for driving the plurality of joints; a transmission mechanism that transmits rotation of a drive shaft of a motor of at least one joint among the plurality of joints to a rotary shaft of the at least one joint; a first encoder (235) that detects rotation of the drive shaft of the motor of the at least one joint; a second encoder (236) that detects rotation of the rotary shaft of the at least one joint; and a determining section (105) that determines an operational abnormality based on an encoder pulse that is output from the first encoder and an encoder pulse that is output from the second encoder.
ROBOT APPARATUS AND MOTOR CONTROL DEVICE