A control device for operating a robot including a hand, wherein the control device is configured to cause the robot to rotate a first object around a predetermined position of the first object and relatively move the first object with respect to a second object, based on a captured image including the hand and the first object, wherein the control device comprises a control unit configured to operate the hand, and wherein the control device comprises an image acquisition unit configured to acquire the captured image and to output the acquired captured image to the control unit, characterized in that the control unit includes: - a target derivation unit configured to detect a position and a posture of the second object based on the captured image acquired by the image acquisition unit, and to derive a target position and a target posture of the first object based on the position and the posture of the second object, - a rotation center position calculation unit configured to detect a current position and a current posture of the first object, and to calculate a rotation center position and a rotation center posture based on the detected current position and posture of the first object, wherein the rotation center position corresponds to said predetermined position of the first object, - a movement operation amount calculation unit configured to calculate a target operation amount by which the first object is moved by the hand so that the position and posture of the first object match the target position and posture calculated by target derivation unit, and - a robot control unit configured to calculate a position and a posture to which a force sensor of the robot, which is configured to detect a force or a moment acting on the hand or on the first object gripped by the hand, is to move based on the target operation amount of the first object, and to control the robot to move the force sensor so that the position and the posture of the force sensor match the calculated position and posture to which the force sensor is to move. - a target derivation unit configured to detect a position and a posture of the second object based on the captured image acquired by the image acquisition unit, and to derive a target position and a target posture of the first object based on the position and the posture of the second object, - a rotation center position calculation unit configured to detect a current position and a current posture of the first object, and to calculate a rotation center position and a rotation center posture based on the detected current position and posture of the first object, wherein the rotation center position corresponds to said predetermined position of the first object, - a movement operation amount calculation unit configured to calculate a target operation amount by which the first object is moved by the hand so that the position and posture of the first object match the target position and posture calculated by target derivation unit, and - a robot control unit configured to calculate a position and a posture to which a force sensor of the robot, which is configured to detect a force or a moment acting on the hand or on the first object gripped by the hand, is to move based on the target operation amount of the first object, and to control the robot to move the force sensor so that the position and the posture of the force sensor match the calculated position and posture to which the force sensor is to move.