Handling device and computer program product

A computer program product having a non-transitory computer readable medium including programmed instructions for controlling a manipulator that includes a handling tool including a plurality of suction pads and that includes an arm, wherein the instructions, when executed by a computer, cause the computer to function as:

• a normal grid generation unit that converts a depth image including one or more objects to be grasped into a point cloud, generates spatial data including the one or more objects to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates;
• a hand kernel generation unit that generates a hand kernel of each of the suction pads based on a position of each of the suction pads in the handling tool and a posture of the handling tool;
• a calculation unit that calculates ease of grasping each of the one or more objects to be grasped by the plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel;
• and
• a control unit that controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads,
• wherein the instructions further cause the computer to generate each hand kernel based on the position of each suction pad, and calculate the ease of grasping of each of the one or more objects to be grasped by the plurality of suction pads based on a difference between each value of the 3D convolution calculation using the grid including the spatial data and each hand kernel.