A robot control device for controlling a robot, the robot comprising a robot arm adapted to move about a support point (12, 12A, 12B), wherein the robot arm includes a robot hand located at a distal end of the robot arm; wherein the robot control device comprises: a detection unit adapted to detect a relative positional relationship with a moving body; a control unit adapted to generate a drive control signal of an actuator which causes the robot arm to move on the basis of a change in the relative positional relationship between the robot arm and the moving body detected by the detection unit; and an output unit adapted to output the drive control signal generated by the control unit to the actuator, wherein the detection unit detects the relative positional relationship between the robot arm and the moving body by a sensor attached to the robot arm, characterized in that the control unit is further adapted to estimate a stopped relative distance at the time of an emergency stop, wherein the stopped relative distance is a distance between the robot hand and the moving body when the robot hand is stopped by performing the emergency stop; the control unit is further adapted to accelerate the robot hand when the stopped relative distance is greater than a predetermined stopped distance, and when the stopped relative distance is smaller than the predetermined stopped distance, the control unit is further adapted to: decelerate the robot hand while maintaining its moving direction with respect to the robot; further determine whether the stopped relative distance is smaller than the predetermined stopped distance, and emergently stop the robot hand when the further determined stopped relative distance is smaller than the predetermined stopped distance. a detection unit adapted to detect a relative positional relationship with a moving body; a control unit adapted to generate a drive control signal of an actuator which causes the robot arm to move on the basis of a change in the relative positional relationship between the robot arm and the moving body detected by the detection unit; and an output unit adapted to output the drive control signal generated by the control unit to the actuator, wherein the detection unit detects the relative positional relationship between the robot arm and the moving body by a sensor attached to the robot arm, characterized in that the control unit is further adapted to estimate a stopped relative distance at the time of an emergency stop, wherein the stopped relative distance is a distance between the robot hand and the moving body when the robot hand is stopped by performing the emergency stop; the control unit is further adapted to accelerate the robot hand when the stopped relative distance is greater than a predetermined stopped distance, and when the stopped relative distance is smaller than the predetermined stopped distance, the control unit is further adapted to: decelerate the robot hand while maintaining its moving direction with respect to the robot; further determine whether the stopped relative distance is smaller than the predetermined stopped distance, and emergently stop the robot hand when the further determined stopped relative distance is smaller than the predetermined stopped distance. decelerate the robot hand while maintaining its moving direction with respect to the robot; further determine whether the stopped relative distance is smaller than the predetermined stopped distance, and emergently stop the robot hand when the further determined stopped relative distance is smaller than the predetermined stopped distance.