A robot control apparatus includes a scenario acquiring unit acquiring a scenario in which a plurality of instructions, each occupying at least one entity that performs an operation, the at least one entity of a plurality of resources containing a plurality of entities that perform operations as different resources, are arranged in a serial execution order; an instruction queue generating unit generating an instruction queue for each resource, the instruction queue in which the instructions which have not been executed yet and occupy the resource are arranged in the execution order described in the scenario; and an instruction executing unit making a robot execute the plurality of instructions in parallel, the instructions each being first in the execution order in the instruction queues corresponding to all of the resources to be occupied.