Control device, robot system, control method, and non-transitory computer-readable medium

A control device, comprising:

• a processor, configured to:
• determine a plurality of target positions of an actor of a robot based on a form of an object located in an operating environment of the robot;
• estimate a predicted trajectory of the actor based on motion of the actor up to the present, and estimating a trajectory of the actor from a current position respectively to each of the plurality of target positions as an approach trajectory using a predetermined function;
• select one target position among the plurality of target positions based on a degree of similarity respectively between the predicted trajectory and each of the plurality of approach trajectories;
• and
• control the actor of the robot to move toward the selected target position,
• wherein with respect to the object having dimensions larger than predetermined dimensions, the processor further determines an intersection of a surface of the object and a line-of sight direction of an operator, classifies the intersection into a plurality of clusters, and determines a representative point of the distribution of the intersection of each of the plurality of clusters respectively as each of the plurality of target positions.