Object gripping system, object gripping method, storage medium and robot system

A controller for an object gripping system, the controller comprising:

• a memory;
• and
• at least one processor coupled to the memory, the at least one processor being configured to perform the functions of:
• a position and orientation measurement unit adapted to measure a position and orientation of at least one target object based on a captured image of the at least one target object;
• a selection unit adapted to select at least one grippable target object from the at least one target object based on the position and orientation from the at least one target object;
• and
• a determination unit adapted to determine a gripping target object from the at least one grippable target object, which is selected by said selection unit, based on priorities set in advance for states including gripping positions or gripping directions,
• wherein the priority is set in advance to be higher with a decrease in time required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object .

A method for controlling an object gripping system that includes a processor, the method comprising the steps of:

• measuring, by the processor, a position and orientation of at least one target object based on a captured image of the at least one target object;
• selecting, by the processor, at least one grippable target object from the at least one target object based on the position and orientation;
• determining, by the processor, a gripping target object from the at least one grippable target object which is selected in the selecting step, based on priorities set in advance for states including gripping positions or gripping directions,
• wherein the priority is set in advance to be higher with a decrease in change amount required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object.

A method for controlling an object gripping system that includes a processor, the method comprising the steps of:

• measuring, by the processor, a position and orientation of at least one target object based on a captured image of the at least one target object;
• selecting, by the processor, at least one grippable target object from the at least one target object based on the position and orientation;
• determining, by the processor, a gripping target object from the at least one grippable target object, which is selected in the selecting step, based on priorities set in advance for states including gripping positions or gripping directions,
• wherein the priority is set in advance to be higher with a decrease in time required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object.