Robot control device

A robot control device to control a robot that operates sharing a work area with a human, the robot control device comprising:

• image recognition processing circuitry to recognize first information on a 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;
• robot control processing circuitry to control a motion of the robot in accordance with a motion program for moving the robot;
• and
• monitoring processing circuitry to:
• add position information on the human and human body parts, to surrounding object data, on a basis of the first information obtained from the image recognition processing circuitry, the surrounding object data indicating three-dimensional disposition states of the robot and a surrounding object in the monitoring area and including positions, shapes, and sizes thereof, the surrounding object being an object other than the robot;
• on a basis of the post-addition data, predict motions of the human and the robot in an environment including the surrounding object;
• and
• determine, from a positional relationship among the robot, the surrounding object, and the human, a possibility of pinching of the human between the robot and the surrounding object depending on whether the human is present at a position where the human is pinched, the positional relationship using coordinates on the surrounding object data obtained by the prediction.