Robot apparatus and motor control device

The present invention comprehensively detects movement malfunctions due to disturbance factors such as robot arm contact, etc. The robot apparatus according to an embodiment is provided with a multi-joint arm mechanism and is equipped with: multiple links; multiple joints (J1-J6) connecting the multiple links; multiple motors (310-360) for generating the motive force for driving the multiple joints; a transmission mechanism for transmitting the drive shaft rotation of the motor of at least one of the multiple joints to a rotating shaft of at least one joint; a first encoder (235) for detecting the drive shaft rotation of the motor of at least one joint; a second encoder (236) for detecting the rotating shaft rotation of at least one joint; and an assessment section (105) for assessing movement malfunctions on the basis of an encoder pulse output from the first encoder and an encoder pulse output from the second encoder.