Robot control device, robot system, and robot control program

A robot controller comprising:

• a movement controller that moves an arm including a hand;
• and
• an opening/closing controller that opens and closes at least one of fingers included in the hand in a predetermined opening/closing direction, wherein
• the movement controller causes the arm to perform a contact action of bringing at least one of the fingers into contact with a workpiece in a pressing direction, the pressing direction intersecting with the opening/closing direction,
• the opening/closing controller causes the at least one of the fingers to perform an opening action after the contact action,
• after the at least one of the fingers is separated from the workpiece through the opening action, the movement controller causes the arm to perform an approaching action of moving the hand in the pressing direction to a predetermined holding position at which the workpiece is located between the fingers, and
• the opening/closing controller causes the fingers to hold the workpiece by causing at least one of the fingers to perform a closing action in a state where the hand is located at the holding position.