A robot control apparatus and a control method for moving a tool along a synthesized trajectory where at least two operations are synthesized in the middle of a desired trajectory. Control positions for a preceding operation and those for a succeeding operation are calculated from initial to terminal values, respectively. With a requirement that initial values for the succeeding operation be matched to terminal values for preceding operation, target control positions at a predetermined time for an actuator in a section where a tool is moved along the synthesized trajectory are calculated on the basis of values obtained by adding values of a difference between the predetermined time and a previous time for the preceding operation to values of a difference between the predetermined time and the previous time for the succeeding operation, and the actuator is controlled such that calculated target control positions are attained.