A robot apparatus comprising: a robot comprising a plurality of motors (211 to 216) configured to drive respective joints (J 1 to J 6), a sensor configured to obtain force acting on a hand tip, and a sensor configured to obtain a position of the hand tip, wherein the sensor configured to obtain the force acting on the hand tip includes a torque sensor configured to obtain a torque of each of the joints (J 1 to J 6), and the sensor configured to obtain the position of the hand tip includes a plurality of sensors (551 to 556; 221 to 226) configured to detect respective positions of the motors (211 to 216) or respective positions of the joints (J 1 to J 6); and a controlling unit configured to obtain a torque instruction value for each of the motors (211 to 216) to compensate for a force deviation between the force acting on the hand tip and a force target value, and control driving of each of the motors (211 to 216) based on the torque instruction value, characterized in that the robot apparatus further comprising a force controlling unit that comprises a speed reduction parameter setting unit, a force control calculating unit and a stop order confirming unit configured to decide whether or not a stop order for stopping the robot is received in assembling operation, and the controlling unit, in a case where the stop order confirming unit decides that the stop order is received, is configured to perform a stopping process, wherein in the stopping process, the controlling unit is configured to set using the speed reduction parameter setting unit, as a fixed value of a position target value, a position of the hand tip when the stop order confirming unit decides that the stop order is received, is configured to obtain the torque instruction value to compensate for a position deviation between the position of the hand tip and the position target value using the force control calculating unit and is configured to compensate the force target value using the force control calculating unit to decrease the force acting on the hand tip using the force control calculating unit. a robot comprising a plurality of motors (211 to 216) configured to drive respective joints (J 1 to J 6), a sensor configured to obtain force acting on a hand tip, and a sensor configured to obtain a position of the hand tip, wherein the sensor configured to obtain the force acting on the hand tip includes a torque sensor configured to obtain a torque of each of the joints (J 1 to J 6), and the sensor configured to obtain the position of the hand tip includes a plurality of sensors (551 to 556; 221 to 226) configured to detect respective positions of the motors (211 to 216) or respective positions of the joints (J 1 to J 6); and a controlling unit configured to obtain a torque instruction value for each of the motors (211 to 216) to compensate for a force deviation between the force acting on the hand tip and a force target value, and control driving of each of the motors (211 to 216) based on the torque instruction value, obtain a torque instruction value for each of the motors (211 to 216) to compensate for a force deviation between the force acting on the hand tip and a force target value, and control driving of each of the motors (211 to 216) based on the torque instruction value, characterized in that the robot apparatus further comprising a force controlling unit that comprises a speed reduction parameter setting unit, a force control calculating unit and a stop order confirming unit configured to decide whether or not a stop order for stopping the robot is received in assembling operation, and the controlling unit, in a case where the stop order confirming unit decides that the stop order is received, is configured to perform a stopping process, wherein in the stopping process, the controlling unit is configured to set using the speed reduction parameter setting unit, as a fixed value of a position target value, a position of the hand tip when the stop order confirming unit decides that the stop order is received, is configured to obtain the torque instruction value to compensate for a position deviation between the position of the hand tip and the position target value using the force control calculating unit and is configured to compensate the force target value using the force control calculating unit to decrease the force acting on the hand tip using the force control calculating unit.