Workpiece placement system for placing workpiece in containment area or on jig

A workpiece placement system for placing one or more workpieces in one or more containment areas or on one or more jigs comprising:

• a robot for placing the workpiece in the containment area or on the jig;
• a sensor for measuring a three-dimensional shape of the containment area or jig;
• a processor for performing a process to determine a workpiece placement position and a workpiece placement posture based on the three-dimensional shape;
• and
• a robot controller for controlling the robot based on the workpiece placement position and the workpiece placement posture, wherein
• the processor includes:
• a workpiece shape obtainment section for obtaining a workpiece shape of the workpiece to be placed;
• a placement posture retrieval section for retrieving one or more types of workpiece placement postures chosen by a user;
• a vacant area calculation section for calculating a vacant area of the containment area or jig based on the three-dimensional shape;
• a workpiece placeable area calculation section for calculating one or more workpiece placeable areas that satisfy the workpiece shape and the workpiece placement posture in the vacant area;
• and
• a position and posture determination section for determining the workpiece placement position and the workpiece placement posture that are suitable for placement of the workpiece in the one or more workpiece placeable areas.