| 摘要 |
A robot control apparatus, which causes a robot to use its hand to grasp and move a workpiece detected by a workpiece detection unit, has a storage unit and a control unit. A non-interference area in which no interference occurs between the hand and a surrounding environment and a work area through which the hand potentially passes when grasping the workpiece are stored as a parameter in the storage unit. The control unit computes, based on a position and an attitude of the detected workpiece and the parameter regarding the work area, a position and an orientation of the work area with reference to the position of the detected workpiece. Moreover, the control unit computes an overlap between a surrounding environment area excluding the non-interference area and the work area having the computed position and orientation. If there is the overlap, the control unit executes a predetermined operation. |
