A robot and its control device capable of improving recognition accuracy of a position and posture of a functional body such as a hand with respect to an object to thereby attain improved stability of the operation involving a change in position/posture of its body are provided. In a case where the magnitude of a deviation Δϕ of an angle ϕ made by two reference vectors U1 and U2, representing a manner in which a structure W extends in a camera coordinate system and in a hand coordinate system, respectively, with respect to a reference angle ϕ0 is greater than a threshold value ε, the probability that the state of interaction between the hand 13 (functional body) and the structure W is divergent from a desired state is high.
Robot and control device of the robot