A control device includes a target position setting part, a trajectory estimation part, and a target position selector. The target position setting part determines a target position of an actor of a robot based on a form of an object located in an operating environment of the robot. The trajectory estimation part estimates a predicted trajectory of the actor based on motion of the actor up to the present, and estimates a trajectory of the actor from a current position to the target position as an approach trajectory using a predetermined function. The target position selector selects one target position based on a degree of similarity between the predicted trajectory and each of the approach trajectory.