A robot apparatus comprising: a multi-articulated robot including a plurality of rotational joints (J1 - J6); an end effector provided on the multi-articulated robot and operated by the rotational joints (J1 - J6); and a controlling apparatus that is configured to obtain a position command being a command value concerning a position of the end effector based on an input motion command, and to drive and control the multi-articulated robot, wherein the controlling apparatus includes: a joint angle computing unit that is configured to compute a joint angle command of each of the plurality of rotational joints (J1 - J6), the joint angle command being for driving the multi-articulated robot based on the motion command; a joint drive controlling unit that is configured to move the multi-articulated robot by rotationally driving each of the plurality of rotational joints (J1 - J6) based on the joint angle command computed by the joint angle computing unit; a singular point calculating unit that is configured to calculate one of a singular point angle and a singular point distance of each of the plurality of rotational joints (J1 - J6) to a singular point of the multi-articulated robot; and a joint speed limiting unit that is configured to limit a rotation speed of a rotational joint (J1 - J6) specified in advance based on a type of the singular point, if the one of the singular point angle and the singular point distance calculated by the singular point calculating unit becomes smaller than a predetermined value, characterised in that the joint angle computing unit includes: a setting unit that is configured to set a correction rate of the position command based on the singular point angle or the singular point distance calculated by the singular point calculating unit. a multi-articulated robot including a plurality of rotational joints (J1 - J6); an end effector provided on the multi-articulated robot and operated by the rotational joints (J1 - J6); and a controlling apparatus that is configured to obtain a position command being a command value concerning a position of the end effector based on an input motion command, and to drive and control the multi-articulated robot, wherein the controlling apparatus includes: a joint angle computing unit that is configured to compute a joint angle command of each of the plurality of rotational joints (J1 - J6), the joint angle command being for driving the multi-articulated robot based on the motion command; a joint drive controlling unit that is configured to move the multi-articulated robot by rotationally driving each of the plurality of rotational joints (J1 - J6) based on the joint angle command computed by the joint angle computing unit; a singular point calculating unit that is configured to calculate one of a singular point angle and a singular point distance of each of the plurality of rotational joints (J1 - J6) to a singular point of the multi-articulated robot; and a joint speed limiting unit that is configured to limit a rotation speed of a rotational joint (J1 - J6) specified in advance based on a type of the singular point, if the one of the singular point angle and the singular point distance calculated by the singular point calculating unit becomes smaller than a predetermined value, characterised in that the joint angle computing unit includes: a setting unit that is configured to set a correction rate of the position command based on the singular point angle or the singular point distance calculated by the singular point calculating unit. a joint angle computing unit that is configured to compute a joint angle command of each of the plurality of rotational joints (J1 - J6), the joint angle command being for driving the multi-articulated robot based on the motion command; a joint drive controlling unit that is configured to move the multi-articulated robot by rotationally driving each of the plurality of rotational joints (J1 - J6) based on the joint angle command computed by the joint angle computing unit; a singular point calculating unit that is configured to calculate one of a singular point angle and a singular point distance of each of the plurality of rotational joints (J1 - J6) to a singular point of the multi-articulated robot; and a joint speed limiting unit that is configured to limit a rotation speed of a rotational joint (J1 - J6) specified in advance based on a type of the singular point, if the one of the singular point angle and the singular point distance calculated by the singular point calculating unit becomes smaller than a predetermined value, characterised in that the joint angle computing unit includes: a setting unit that is configured to set a correction rate of the position command based on the singular point angle or the singular point distance calculated by the singular point calculating unit.