ROBOT POSTURE DETERMINATION DEVICE, METHOD, AND PROGRAM

An acquisition unit (32) acquires work information related to work to be performed by a robot having a hand part, grasping information indicating a plurality of candidates for the relative positional relationship between the hand part and a workpiece, workpiece posture information indicating a plurality of candidates for a posture adoptable by the workpiece, and kinematics information regarding the robot. A generation unit (34) generates, for a plurality of target points on a path of the robot for performing the work, a graph (38) which includes a node corresponding to each combination of the workpiece posture information, the posture of the hand part grasping the workpiece, and the posture of the robot, and an edge connecting nodes corresponding to combinations that are transitionable between target points, and in which an estimated operation time corresponding to the transition between the nodes connected by the edge is given to the edge as a weight. A searching unit (36) uses the graph (38) to search for a sequence of robot postures, which results in the shortest operation time, at each of the plurality of target points.