The objective of the present invention is to provide a gripping attitude evaluating device capable of evaluating an appropriate gripping attitude of a target object, taking into account a load on a robot. A gripping attitude evaluating device (10) includes a gripping attitude deriving unit (101) for deriving a gripping attitude of a robot hand H when the robot hand H, with which a robot RB is provided, grips a workpiece, a load index value calculating unit (103) for calculating a load index value representing a load acting on the robot RB if the robot hand H grips and conveys the workpiece in accordance with the gripping attitude derived by the gripping attitude deriving unit (101), and a gripping attitude evaluating unit (104) for evaluating whether the gripping attitude is appropriate, on the basis of the load index value calculated by the load index value calculating unit (103), wherein, each time the gripping attitude evaluating unit (104) evaluates that the gripping attitude is not appropriate, derivation of a new gripping attitude by the gripping attitude deriving unit (101), calculation of the load index value by the load index value calculating unit (103), and evaluation by the gripping attitude evaluating unit (104) are repeated.
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