Device, method, and computer program for restricting movement of robot

An apparatus configured to restrict a movement of a robot toward an outside of a predetermined allowable operation range, the apparatus comprising:

• a position acquisition unit configured to acquire a current position of the robot;
• a direction setting unit configured to determine a first direction toward the outside and a second direction orthogonal to the first direction, on the basis of the current position acquired by the position acquisition unit and a boundary of the allowable operation range adjacent to the current position;
• a command generating unit configured to generate a first movement command for moving the robot in the first direction determined by the direction setting unit, and a second movement command for moving the robot in the second direction determined by the direction setting unit, in order to move the robot;
• and
• a movement restriction unit configured to restrict a movement of the robot in accordance with the first movement command, while permitting a movement of the robot in accordance with the second movement command.