PICKUP DEVICE CAPABLE OF DETERMINING HOLDING POSITION AND POSTURE OF ROBOT BASED ON SELECTION CONDITION

A pickup device includes a robot for holding a target object, a sensor for measuring a position/posture of an object, a first storing unit for storing a reference holding position/posture, a second storing unit for storing a holding position/posture modification range, a calculating unit for calculating a holding position/posture of the robot based on the position/posture of the target object and the reference holding position/posture, a third storing unit for storing a selection condition determining priority of the holding position/posture, and a selecting unit for selecting a holding position/posture of the robot, based on the priority determined by the selection condition, among the holding positions/postures of the robot obtained from the holding position/posture of the robot and the holding position/posture modification range.