1. A device of controlling an operation of a robot apparatus having at least a plurality of movable units, the device comprising: driving means for driving the movable units; determining means for determining states of the movable units or a state of the robot apparatus; a plurality of abnormal state detecting means for detecting abnormal states and performing overcoming operations on the abnormal states on the basis of the determination results determined by the determining means; and abnormal state controlling means for causing the abnormal state detections and the overcoming operations to be concurrently performed by the plurality of abnormal state detecting means.