Provided is a gripping position / posture teaching apparatus capable of generating a gripping position / posture of a robot for every posture that a part can take. The gripping position / orientation teaching device collects the positions of the same gripping type and the part loading attitude calculation unit that calculates the loading attitude that a part can take, the gripping attitude selection unit that selects the gripping posture of the hand with respect to the part loading attitude, and the like. A gripping position region extraction unit that extracts a gripping position region as a gripping position region, and a gripping position / posture output unit that determines a gripping position in the gripping position region extracted by the gripping position region extraction unit and outputs it as a gripping position / posture for each input posture With.
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