GRIPPING DEVICE, LEARNING DEVICE, LEARNED MODEL, GRIPPING SYSTEM, DETERMINATION METHOD, AND LEARNING METHOD

摘要

To discriminate a proper gripping position for flexible objects in a folded and stacked state.SOLUTION: A gripping device 1 includes: an image data acquisition section 16 which acquires image data capturing an object; a robot arm 11 which grips the object; a control section 12 which controls the operation of the robot arm 11; and a gripping position determination section 18 which determines whether portions of flexible objects appearing in the image data are portions suitable for gripping using the image data in which the flexible objects in a folded and stacked state are captured, which are acquired by the image data acquisition section 16. The control section 12 controls the robot arm 11 so that an end of a top face of the flexible object on the uppermost stage is deformed. The gripping position determination section 18 determines whether the end is a portion suitable for gripping using the image data in which the flexible object having the deformed end of the top face is captured.SELECTED DRAWING: Figure 3