A robot control device includes a parameter estimating unit that causes a robot to operate under estimation conditions input by a user and that estimates a load parameter of a load attached to the robot, a torque calculating unit that calculates operation torques of respective joints of the robot caused to operate during the estimation of the load parameter, and an alert unit that issues an alert to the user when the difference between the maximum value and the minimum value of the operation torques is equal to or less than a predetermined threshold.