Robot setting apparatus and robot setting method

A robot setting apparatus setting an operation of a robot performing a bin picking operation of a sensor unit measuring a three-dimensional shape of each of a plurality of workpieces stacked in a work space and sequentially taking out the workpieces with an end effector provided at a tip of an arm portion of the robot, the robot setting apparatus comprising:

• a workpiece model registration unit that registers a workpiece model virtually expressing a three-dimensional shape of a workpiece with three-dimensional CAD data or a height image;
• an end effector model registration unit that registers an end effector model virtually expressing a three-dimensional shape of an end effector with three-dimensional CAD data;
• an image display region in which the end effector model and the workpiece model are displayed on a virtual three-dimensional space;
• a grip reference point setting unit that defines a grip reference point corresponding to a position at which the workpiece model is gripped for the end effector model;
• a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model;
• a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in the image display region;
• and
• a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.