Method for Ascertaining Control Data for a Gripping Device for Gripping an Object

A method for ascertaining control data for a gripping device for gripping an object includes capturing an image of the object, determining at least one object parameter of the captured object, and ascertaining control data for a gripping device to grip the object at at least one gripping point, where ascertaining the at least one gripping point of the object is performed using information relating to at least one possible stable position of the object, and the possible stable position of the object is established such that all of the position data of the object that can be converted into one another via a movement and/or rotation about a surface normal of a support surface on which the object lies are assigned to the possible stable position.