Handling apparatus, control apparatus, and recording medium

A control apparatus configured to control a carrier system, wherein the carrier system has an arm having a joint, a holding portion attached to the arm and configured to hold an object, and a sensor configured to detect a plurality of the objects, the control apparatus is configured to:

• calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method,
• select the object to hold and the holding method according to the score, and
• calculate a position for holding the selected object and an orientation of the arm.

A non-volatile recording medium storing a control program to control a carrier system, wherein the carrier system has an arm having a joint, a holding portion attached to the arm and configured to hold an object, a sensor configured to detect a plurality of the objects, and a control apparatus configured to control the arm and the holding portion, the control program is executed to make the control apparatus to:

• calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method,
• select the object to hold and the holding method according to the score, and
• calculate a position for holding the selected object and an orientation of the arm.