| 摘要 |
PROBLEM TO BE SOLVED: To provide a gripping discrimination apparatus for accurately discriminating whether an object as a gripping target is grippable.SOLUTION: There is provided a gripping discrimination apparatus which includes: a plan part that generates a target orbit for moving a gripping part, while an object as the gripping target being gripped by the gripping part; an observation part that measures movement of the gripping part driven based on the target orbit; a gripping state discrimination part that discriminates whether an object as the gripping target is grippable based on a target value of the gripping part derived from the target orbit and an actual measured value measured by the observation part; and a gripping state change part that changes a gripping state of an object gripped by the gripping part based on a discrimination result obtained by the gripping state discrimination part. |
