A robot apparatus has a multi-link structure including a plurality of links and joints serving as link movable sections, and in which at least some of the links are driven by combination of position control and force control. The apparatus includes: position controller performing position control on the links, which are driven by position control and force control; position controller with force constraint placing the force control before the position control so as not to cause a magnitude of an external force to exceed a set value; force controller performing the force control on the links; and integrated force/position controller controlling driving of the joints by switching the position controller, the position controller with force constraint, and the force controller, and unifying the position control and the force control.