Robot system and control apparatus

A control apparatus for controlling a robot arm mechanism for gripping a workpiece stored in a container with an opening at a top of the container, based on an output of a sensor configured to photograph the container, the control apparatus comprising:

• a reception unit configured to receive, from the sensor, two-dimensional image data including the container and three dimensional point cloud data including the container;
• a feature point extraction unit configured to extract, based on the image data, a feature point provided on the container;
• a feature point position identification unit configured to identify, based on the point cloud data, a three-dimensional position of the extracted feature point;
• a container opening identification unit configured to identify a position, orientation, and size of the opening of the container based on the three-dimensional position of the feature point;
• and
• a robot control unit configured to control the robot arm mechanism based on the position, orientation, and size of the opening of the container so as not to interfere with the container.