A robot control device includes an obtaining unit that obtains, from an image sensor that captures a workpiece group to be handled by a robot, a captured image, a simulation unit that simulates operation of the robot, and a control unit that performs control such that the captured image is obtained if, in the simulation, the robot is retracted from an image capture forbidden space, in which an image is potentially captured with the workpiece group and the robot overlapping each other, and which is set based on either or both a first space being the visual field range of the image sensor, and a columnar second space obtained by taking a workpiece region including the workpiece group or each of divided regions into which the workpiece region is divided, as a bottom area, and extending the bottom area to the position of the image sensor.