Control device, control method for robot, and robot control system

A control method for a robot performed by a control device that controls a robot for picking an object, the control method comprising:

• acquiring a captured image;
• detecting the object from the captured image;
• selecting an end effector for picking the object from among a plurality of different end effectors included in the robot, based on the select object;
• determining a camera to be used for estimating a picking position of the object from among a first camera that is provided integrally with the end effector and captures an image of the object and a second camera that is provided separately from the end effector and captures an image of an area where the object is picked, based on the captured image and information on the selected end effector;
• and
• causing the robot to pick the object using the determined first camera or second camera and the selected end effector.

A robot control system comprising:

• a robot including a plurality of different end effectors and configured to pick an object;
• a first camera provided integrally with the end effector and configured to capture an image of the object;
• a second camera provided separately from the end effector and configured to capture an image of an area where the object is picked;
• and
• a control device configured to communicate with the robot, the first camera, and the second camera and control the robot, wherein
• the second camera acquires a captured image, and
• the control device:
• detects the object from the captured image;
• selects an end effector for picking the object from among the plurality of different end effectors based on the select object;
• determines a camera to be used for estimating a picking position of the object from among the first camera and the second camera, based on the captured image and information on the selected end effector;
• and
• causes the robot to pick the object using the determined first camera or second camera and the selected end effector.