Method for Ascertaining Control Data for a Gripping Device for Gripping an Object

A method for ascertaining control data for a gripping device for gripping an object, the method comprising:

• capturing an image of the object;
• determining at least one object parameter for the captured object;
• ascertaining control data for the gripping device for gripping the object at at least one gripping point;
• said ascertaining the at least one gripping point of the object being effected utilizing information regarding at least one possible stable pose of the object;
• wherein the at least one possible stable pose of the object is established such that all pose data of the object which are convertible into one another via at least one of a displacement and a rotation about a surface normal of a support surface on which the object lies are assigned to said at least one possible stable pose;
• and
• wherein at least one of (i) said determining the at least one object parameter and (ii) said ascertaining the control data for the gripping device is effected utilizing information regarding the at least one possible stable pose of the object.

A system for gripping an object, the system comprising:

• an optical capture device for capturing an image of the object;
• and
• a data processor for at least one of determining at least one object parameter of the object and ascertaining control data for a gripping device for gripping the object;
• wherein the system is configured to:
• ascertain control data for the gripping device for gripping the object at at least one gripping point;
• said ascertaining the at least one gripping point of the object being effected utilizing information regarding at least one possible stable pose of the object;
• wherein the at least one possible stable pose of the object is established such that all pose data of the object which are convertible into one another via at least one of a displacement and a rotation about a surface normal of a support surface on which the object lies are assigned to said at least one possible stable pose;
• and
• wherein at least one of (i) said determining the at least one object parameter and (ii) said ascertaining the control data for the gripping device is effected utilizing information regarding the at least one possible stable pose of the object.