A manual feed apparatus of a robot comprises an interference calculation apparatus configured to calculate an operable range in which the robot can operate without causing interference. The interference calculation apparatus includes an operation range setting part configured to judge a position at which the robot can operate without interfering with a peripheral object and set the operable range. The operation range setting part calculates the operable range during a period when the robot is stopped. The interference calculation apparatus calculates an operation allowable range in a direction in which the robot operates based on the operable range. The robot control apparatus executes control for reducing a speed of the robot when the operation allowable range is smaller than a predetermined judgement value.

A manual feed apparatus of a robot comprises an interference calculation apparatus configured to calculate an operable range in which the robot can operate without causing interference. The interference calculation apparatus includes an operation range setting part configured to judge a position at which the robot can operate without interfering with a peripheral object and set the operable range. The operation range setting part calculates the operable range during a period when the robot is stopped. The interference calculation apparatus calculates an operation allowable range in a direction in which the robot operates based on the operable range. The robot control apparatus executes control for reducing a speed of the robot when the operation allowable range is smaller than a predetermined judgement value.