Selected device, robot control device, and robot device

Abstract

A selection device selects the workpiece to be transported from a plurality of irregularly arranged workpieces. In one embodiment, the selection device includes: a shape acquisition unit that acquires shape information of the workpieces; and a detection unit that detects the three-dimensional position of the plurality of workpieces based on the output of a three-dimensional sensor that has captured images of the plurality of workpieces and the shape information of the workpieces. The selection device includes: an index calculation unit that calculates a removal index for selecting the workpiece to be transported; and a selection unit that selects the workpiece to be transported based on the removal index of the plurality of workpieces. The index calculation unit calculates the removal index based on at least one of the distance between the workpieces and the distance from the workpiece to objects surrounding the workpiece.

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