A control apparatus for a robotic system, the robotic system including a robot and a measurement device, the robot including a robotic arm and a hand at an end of the robotic arm to manipulate a respective one of a plurality of objects (5, 5a, 5b), the measurement device being located on the robotic arm to measure positional information about the plurality of objects (5, 5a, 5b), the control apparatus configured to control the robotic system to operate in operating cycles, each operating cycle referring to a period in which the hand gripping a respective one of the plurality of the objects (5, 5a, 5b) moves and/or the period in which the hand returns to grip a respective next one of the plurality of objects (5, 5a, 5b), the control apparatus comprising: a pose generator configured to generate one or more poses (61 to 64, 81 to 88) of the measurement device to measure the positional information about the plurality of objects (5, 5a, 5b); a measurement path determiner configured to determine, for the measurement device, a measurement path including at least one pose of the one or more poses (61 to 64, 81 to 88) to cause the measurement device to move along the measurement path including the at least one pose and to measure the positional information about the plurality of objects (5, 5a, 5b) in the at least one pose; a command unit (401, 402, 403) configured to command the robot to perform an operating cycle with one of the plurality of objects (5, 5a, 5b) and to move the measurement device along a movement path (P1, P2) traveled by the hand during the one operating cycle, the movement path (P1, P2) including the measurement path, and to command the measurement device to measure, during said one operating cycle, the positional information about the plurality of objects (5, 5a, 5b) in the at least one pose included in the measurement path; and a recognizer configured to perform recognition of the plurality of objects (5, 5a, 5b) using measurement data obtained by the measurement device, the measurement data including positional information about the plurality of objects (5, 5a, 5b); and a determiner configured to determine a next object (5, 5a, 5b) to be gripped with the hand based on the positional information about the objects (5, 5a, 5b); wherein the measurement path determiner is configured to determine, during said one operating cycle, the measurement path for the measurement device for a next operating cycle, based on the poses determined by the pose generator and based on the positional information of the next object to be gripped. a pose generator configured to generate one or more poses (61 to 64, 81 to 88) of the measurement device to measure the positional information about the plurality of objects (5, 5a, 5b); a measurement path determiner configured to determine, for the measurement device, a measurement path including at least one pose of the one or more poses (61 to 64, 81 to 88) to cause the measurement device to move along the measurement path including the at least one pose and to measure the positional information about the plurality of objects (5, 5a, 5b) in the at least one pose; a command unit (401, 402, 403) configured to command the robot to perform an operating cycle with one of the plurality of objects (5, 5a, 5b) and to move the measurement device along a movement path (P1, P2) traveled by the hand during the one operating cycle, the movement path (P1, P2) including the measurement path, and to command the measurement device to measure, during said one operating cycle, the positional information about the plurality of objects (5, 5a, 5b) in the at least one pose included in the measurement path; and a recognizer configured to perform recognition of the plurality of objects (5, 5a, 5b) using measurement data obtained by the measurement device, the measurement data including positional information about the plurality of objects (5, 5a, 5b); and a determiner configured to determine a next object (5, 5a, 5b) to be gripped with the hand based on the positional information about the objects (5, 5a, 5b); wherein the measurement path determiner is configured to determine, during said one operating cycle, the measurement path for the measurement device for a next operating cycle, based on the poses determined by the pose generator and based on the positional information of the next object to be gripped.