Anti-sway control for a robotic arm with adaptive grasping

A method, comprising:

• determining at least one of a size, shape, or orientation of a package to be picked up by an end effector of a robotic arm;
• facilitating adjusting a position of a suction cup on the end effector, wherein the position is determined based on the at least one determined size, shape, or orientation of the package;
• facilitating grasping the package with the end effector;
• and
• facilitating movement of the end effector via a robotic joint to reduce force on the suction cup by the package due to an acceleration of the package due to movement of the robotic arm.

A robotic arm apparatus for grasping and moving a package, the robotic arm apparatus comprising:

• an arm;
• a first joint coupled to an end of the arm;
• and
• an end effector coupled to the first joint, the end effector comprising a fixed suction cup, one or more rails, and at least one movable suction cup,
• wherein each movable suction cup is moveably attached to the one or more rails such that each movable suction cup can move along the rail, and
• wherein the first joint has two or more degrees of freedom in order to rotate the end effector.