A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detector. The robot control part allows the robot to move a first object closer to a second object and, if a magnitude of at least one of a force and moment contained in the force detection information exceeds a predetermined first threshold value, to perform an operation of bringing a first surface of the first object into surface contact with a second surface of the second object according to position control and force control based on a predetermined distance and a predetermined velocity.