A control device of a robot for controlling the angle of a joint of the robot that is driven by a motor. The control device is equipped with: a joint angle command-calculating unit for calculating a joint angle command value; an axial force torque-calculating unit for calculating the axial force torque generated in the joint axis; an elastic deformation-compensating unit for calculating a motor command angle by adding a joint deflection, which is calculated from the axial force torque and a joint spring constant, to the joint angle command value; a stopping position-detecting unit for detecting the angle of the motor when the robot contacts an external structure; and a command angle-switching unit for outputting the motor angle detected by the stopping position-detecting unit instead of the joint angle command value when the stopping position-detecting unit outputs the angle of the motor.