Robot control device, robot control system, and non-transitory computer-readable medium storing a computer program

A robot control device comprising:

• an acquisition unit configured to acquire a robot path for avoiding interference between a robot and a peripheral object present near the robot, the robot path being generated based on a three-dimensional model including the robot and the peripheral object;
• an interference determination unit configured to determine, for each of a predetermined section of the robot path, whether a possibility for the robot to interfere with the peripheral object is high in a case where the robot is moved along the robot path acquired by the acquisition unit;
• and
• a speed changing unit configured to reduce a speed of the robot or stop movement of the robot in the predetermined section where the possibility for the robot to interfere with the peripheral object is determined to be high by the interference determination unit, wherein
• the interference determination unit determines that the possibility for the robot to interfere with the peripheral object is high in a case where a rate of change in a major axis of a manipulability ellipsoid of the robot and/or a rate of change in a minor axis of the manipulability ellipsoid is/are equal to or greater than a respective predetermined threshold value.