A device of controlling an operation of a robot apparatus having at least a plurality of movable units includes a driver driving the movable units, a determiner determining states of the movable units or a state of the robot apparatus, a plurality of abnormal state detectors detecting abnormal states and performing overcoming operations on the abnormal states on the basis of the determination results determined by the determiner, and an abnormal state controller causing the abnormal state detections and the overcoming operations to be concurrently performed by the plurality of abnormal state detectors.