METHOD FOR DETERMINING GRIPPING SEQUENCE CONTROLLER, AND COMPUTER READABLE STORAGE MEDIUM

原文（中文）

Embodiments of present disclosure relate to a method of determining a gripping sequence of cases in a case stack for a gripper. The method includes obtaining at least one finger geometry of the plurality of fingers. The method includes determining a layout for a case layer of the case stack. The method includes determining a grip area for each case in the case layer and based on the layout and the at least one finger geometry. The grip area is dimensioned to allow the plurality of fingers to grip the sidewalls in the grip area; detecting overlaps of the grip area of each case with neighbor cases of each case. The method includes determining the gripping sequence for the case layer based on the detected overlaps. In this way, the gripping sequence can be automatically determined to allow the gripper to depalletize the case stack successively.