Claiming ASIN’s for my brand

Hello, I’m working to help the company I work for manage our presence on Amazon. We manufacture products and distribute them. Our brand is poorly represented on the Amazon marketplace so we are looking to manage this issue. I have registered our brand with Brand Registry, and created an Amazon Seller Account. Is there a way to claim ASIN’s that others have created so that I can control the product details and images that are used so that our brand is accurately portrayed? I’m really struggling to figure this out, as Amazon is a mess, and support is terrible. I’d greatly appreciate any help. Thank you.