Control apparatus that controls arm for gripping object

A control apparatus that controls an operation of a robot, the robot including an arm having a plurality of joints, and capable of freely moving in a three-dimensional space, a driver provided in each of the plurality of joints, to drive the joint, an end effector attached to a distal end of the arm, and configured to hold an object, a first detector that detects a position of the end effector, and a second detector that detects a grip torque with which the end effector holds the object, the control apparatus comprising a control device including a processor, and configured to act, when the processor executes a control program, as:

• a third detector that detects a slip direction of the object held by the end effector;
• a calculator that calculates an angle defined by the slip direction detected by the third detector and a direction opposite to a gravity direction;
• and
• a controller that causes the end effector holding the object to pivot by the angle calculated by the calculator, to align the slip direction detected by the third detector with the direction opposite to the gravity direction.