We perform a lattice QCD study of the $rho$ meson decay from the $N_f=2+1$ full QCD configurations generated with a renormalization group improved gauge action and a non-perturbatively $O(a)$-improved Wilson fermion action. The resonance parameters, the effective $rhotopipi$ coupling constant and the resonance mass, are estimated from the $P$-wave scattering phase shift for the isospin I=1 two-pion system. The finite size formulas are employed to calculate the phase shift from the energy on the lattice. Our calculations are carried out at two quark masses, $m_pi=410,{rm MeV}$ ($m_pi/m_rho=0.46$) and $m_pi=300,{rm MeV}$ ($m_pi/m_rho=0.35$), on a $32^3times 64$ ($La=2.9,{rm fm}$) lattice at the lattice spacing $a=0.091,{rm fm}$. We compare our results at these two quark masses with those given in the previous works using $N_f=2$ full QCD configurations and the experiment.
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