Device for calculating stowage pattern and robot controller

A robot controller, comprising:

• a plurality of calculation devices, each calculation device comprising:
• a model generating section configured to generate first physical models, of a stowage pattern of a plurality of articles, based on dimensions of respective types of the articles, and generate a second physical model of a containing region in which the articles are stacked, based on a dimension of the containing region;
• a locating section configured to locate the first physical models of the stowage pattern in the second physical model, in descending order of priority, the priority being previously determined with respect to the types of the articles;
• and
• a physical calculating section configured to add vibration or a shock to an entirety of the second physical model so that a position and/or orientation of the first physical model in the second physical model is changed, each time when at least one of the first physical models is located in the second physical model, and calculate a change in the position and/or orientation of the first physical model in the second physical model due to the vibration or the shock,
• the robot controller further comprising:
• a pattern selecting section configured to select a stable stowage pattern, from among a plurality of stowage patterns calculated by the plurality of calculation devices;
• and
• a program generating section configured to automatically generate a motion program based on the positions and orientations of the first physical models of the articles included in the stowage pattern selected by the pattern selecting section, to cause a robot to stack the plurality of articles in the containing region using the selected stowage pattern.