Patent ID: 8725296

Claim:
A gripping judgment apparatus, comprising: circuitry that includes a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit; an observation unit that measures movement of the gripping unit driven based on the target orbit; a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit; and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit wherein the gripping state judgment unit judges that the object is not grippable when a deviation between the target value and the actual measured value is equal to or more than a predetermined value.