Object gripping method, storage medium, and object gripping control device

A computer-readable non-transitory storage medium having a program stored therein, the program causing a computer to execute:

• determining a gripping center coordinate system when gripping a target object assumed to be gripped by an end effector having a plurality of fingers for each of a plurality of gripping postures that are able to be taken by the end effector;
• determining an initial fingertip position from the determined gripping center coordinate system;
• instructing the end effector to grip the target object at the initial fingertip position, to thereby cause the end effector to grip the target object;
• fixing a fingertip position of the end effector with respect to the gripping center coordinate system;
• and
• determining an operation amount of the gripping center coordinate system according to a desired operation amount of the target object, and operating the target object according to an operation of the gripping center coordinate system.