Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

A robot control apparatus includes: a speed setter configured to control a collaborative robot that processes a workpiece flowing on a conveyor according to whether a human is or is not detected from a detection result from a detection device that detects a human present within a certain range from the collaborative robot, and sets an upper limit value on the operating speed of the conveyor such that the value is different depending on the detection result from the detection device; and a conveyor controller configured to control the operating speed of the conveyor to be an operating speed less than or equal to the upper limit value set by the speed setter.