US Patent 11161249 Robot control apparatus and robot system

A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.