[Object] To enable further improvement in safety. [Solution] Provided is a robot arm apparatus (10) including: an arm unit (120) made up of a plurality of links joined to each other by one or a plurality of a joint unit (130)； and a driving control unit (111) that drives the arm unit (120) by controlling driving of the joint unit (130). If a malfunction is detected in at least one of the joint unit (130), the driving control unit (111) controls the driving of the joint unit (130) in a state in which a certain restriction is imposed on motion of the arm unit (120), and drives the arm unit (120) to avoid the malfunction.
