Robot control device, robot, and robot system

A robot control device which controls an end effector of a robot, the robot control device comprising:

• a processor;
• and
• a memory;
• wherein the processor
• causes a stereo camera to pick up an image of a target object,
• acquires the image from the stereo camera,
• generates a three-dimensional point cloud representing a three-dimensional shape of a surface of the target object,
• calculates an evaluation value, based on a partial point cloud included in a plurality of areas corresponding to an end effector gripping the target object, of the three-dimensional point cloud,
• calculates a position and an attitude in which the end effector is made to grip the target object, based on the evaluation value, and
• controls the end effector, based on the position and the attitude, and
• the memory stores
• a computer-readable command, and
• the plurality of areas corresponding to the end effector.