Abstract: A robot control device controls a robot. The robot control device includes an image recognition processing unit, a robot control processing unit, and a monitoring processing unit. The image recognition processing unit recognizes first information on the basis of measurement data in a monitoring area obtained from a vision sensor, the first information being information about a human present in the monitoring area. The robot control processing unit controls the motion of the robot in accordance with a motion program for moving the robot. On the basis of surrounding object data and the first information obtained from the image recognition processing unit, the monitoring processing unit determines a possibility of pinching of the human between the robot and a surrounding object. The surrounding object data is data indicating three-dimensional disposition states of the robot and a surrounding object that is an object other than the robot in the monitoring area.

Abstract: A robot control apparatus includes: a robot control unit to control operation of a robot using calibration data; an image processing unit to acquire camera coordinates of a reference marker from image data acquired by a vision sensor; an error calculating unit to calculate an error on a basis of a difference between camera coordinates of the reference marker corresponding to the calibration data and current camera coordinates of the reference marker; a calibration-data calculating unit to calculate new calibration data when an absolute value of the error becomes greater than a threshold; and a calibration-data storing unit to register the new calibration data. The robot control apparatus causes the calibration-data calculating unit to calculate the new calibration data a plurality of times while causing the robot to operate between the calculations and causes the calibration-data storing unit to register a plurality of pieces of calibration data.