Method and system for handling a load arrangement with a robot gripper

A system for handling a load arrangement with a robot, the system comprising:

• means for activating a lifting state of a gripper of the robot for load lifting;
• means for determining a parameter of a time profile of a load-arrangement-dependent force variable using at least one sensor of the robot during a movement of the lifted load arrangement;
• means for classifying the load arrangement lifted by the gripper using a machine-learned model on the basis of the determined parameter;
• and
• means for at least one of:
• carrying out a first process with the robot in response to the load arrangement being classified into a first class, or
• carrying out a second process with the robot in response to the load arrangement being classified into a second class;
• wherein the robot is controlled to carry out the first process or the second process based on a distribution of the load relative to the gripper.

A computer program product for handling a load arrangement with a robot and comprising a program code stored on a non-transitory, computer-readable medium, the program code, when executed by a computer, causing the computer to:

• activate a lifting state of a gripper of the robot for load lifting;
• determine a parameter of a time profile of a load-arrangement-dependent force variable using at least one sensor of the robot during a movement of the lifted load arrangement;
• classify the load arrangement lifted by the gripper using a machine-learned model on the basis of the determined parameter;
• and
• at least one of:
• carry out a first process with the robot in response to the load arrangement being classified into a first class, or
• carry out a second process with the robot in response to the load arrangement being classified into a second class;
• wherein the robot is controlled to carry out the first process or the second process based on a distribution of the load relative to the gripper.