Workpiece temporary placement posture regulation and control method and related equipment

Abstract

The invention provides a workpiece temporary placement posture regulation and control method and related equipment, and relates to the technical field of robotic arm control. According to the method, on the basis of a theoretical rotation matrix set of a workpiece coordinate system relative to a robot base coordinate system of a target mechanical arm when a target workpiece is stored in a target tool support, all candidate rotation matrixes meeting coordinate system vertical axis rotation constraint conditions are screened for matrix transformation; all to-be-selected rotation matrixes of a clamp coordinate system relative to a robot base coordinate system are obtained, and then a workpiece temporary placement posture, needing to be achieved, of a target workpiece in a temporary storage area is reasonably planned in a mode of screening the target rotation matrixes meeting the workpiece safe and stable placement requirement; and then the target mechanical arm is subjected to clamp posture adjustment according to the target rotation matrix, so that the final actual workpiece posture of the target workpiece in the temporary storage area can ensure normal execution of subsequent secondary workpiece grabbing operation, and the success rate of workpiece grabbing and storage operation is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot arm control, in particular to a workpiece temporary placement posture regulation method and related equipment. BACKGROUND

[0002] With the continuous development of science and technology, robot technology has been widely valued by various industries due to its great research value and application value. The mechanical arm control technology is an important research direction of robot technology in the industrial automation production process. In the industrial automation production process, it is usually required to use an intelligent mechanical arm to grab a workpiece from a material box by using a clamp, and accurately store the grabbed workpiece at a fixed position of a target tool support, so as to ensure the subsequent workpiece assembly / machining precision.

[0003] However, it is worth noting that due to the randomness of workpiece stacking in the material box and the uncertainty of environmental changes during workpiece grabbing, the grabbing posture of the clamp of the intelligent mechanical arm often deviates from the actual workpiece posture, which easily causes unstable workpiece grabbing, workpiece unable to be stored in the target tool support, and other problems, which requires the intelligent mechanical arm to use a workpiece posture correction and re-grabbing process to try to avoid the above problems. Among them, the workpiece posture correction and re-grabbing process requires the intelligent mechanical arm to move the workpiece to a temporary storage area after initially grabbing the workpiece, re-estimate the workpiece posture through a vision system, and then perform a second workpiece grabbing at the temporary storage area according to the workpiece storage requirements of the target tool support, so as to ensure that the corresponding workpiece can be normally stored in the target tool support. During the implementation of the workpiece posture correction and re-grabbing process, the temporary placement posture of the workpiece at the temporary storage area will directly affect the success rate of the second workpiece grabbing. If the temporary placement posture of the workpiece is not selected reasonably, it may be affected by the insufficient space accessibility of the temporary storage area or the interference between the temporary storage area and the surrounding environment, thereby causing the subsequent second workpiece grabbing operation to fail. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a workpiece temporary placement posture regulation method, a mechanical arm control device and a readable storage medium, which can automatically plan and design a reasonable workpiece temporary placement posture for a workpiece to be temporarily placed grabbed by an intelligent mechanical arm according to the workpiece storage requirements of a target tool support and the safe and stable placement requirements of a workpiece at a temporary storage area, and drive the intelligent mechanical arm to adjust the workpiece posture in the air, so that the actual workpiece posture of the corresponding workpiece to be temporarily placed in the temporary storage area can ensure the normal execution of the subsequent second workpiece grabbing operation, thereby effectively improving the success rate of the workpiece grabbing and storage operation.

[0005] In order to achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the application provides a method for adjusting a temporary placement posture of a workpiece, the method comprising: obtaining a set of theoretical rotation matrices of a workpiece coordinate system of a target workpiece relative to a robot base coordinate system of a target robot arm when the target workpiece is stored in a target tool support, wherein the target robot arm moves the target workpiece by a gripper; selecting all candidate rotation matrices satisfying a coordinate system vertical axis rotation constraint condition from the set of theoretical rotation matrices; performing matrix transformation on the all candidate rotation matrices respectively according to a first actual rotation matrix of the workpiece coordinate system relative to a gripper coordinate system during workpiece grabbing and moving, to obtain all candidate rotation matrices of the gripper coordinate system relative to the robot base coordinate system; selecting a target rotation matrix meeting a workpiece safe and stable placement requirement from the all candidate rotation matrices; adjusting a gripper posture of the target robot arm according to the target rotation matrix, to adjust a temporary placement posture of the target workpiece at a temporary storage area.

[0006] In an optional embodiment, the step of obtaining a set of theoretical rotation matrices of a workpiece coordinate system of a target workpiece relative to a robot base coordinate system of a target robot arm when the target workpiece is stored in a target tool support comprises: obtaining an expected workpiece coordinate system pose of the target workpiece when the target workpiece is stored in the target tool support, wherein a positive direction of a vertical axis of the expected workpiece coordinate system pose is aligned with a positive direction of a vertical axis of the robot base coordinate system; performing unit hemispherical sampling at the target tool support with the expected workpiece coordinate system pose as a reference pose, to obtain all feasible storage poses of the workpiece coordinate system at the target tool support; calculating a theoretical rotation matrix of the workpiece coordinate system relative to the robot base coordinate system under the action of each feasible storage pose; constructing a matrix set of the theoretical rotation matrices corresponding to all feasible storage poses, to obtain the set of theoretical rotation matrices.

[0007] In an optional embodiment, the coordinate system vertical axis rotation constraint condition is represented by the following inequality: ; wherein, is used to represent a rotation matrix of the workpiece coordinate system relative to the robot base coordinate system ; is a rotation matrix The matrix element value in the third row and the third column, a rotation metric value between a positive direction of a vertical axis of the workpiece coordinate system and a positive direction of a vertical axis of the robot base coordinate system ; a vertical axis rotation constraint threshold value, is a pure decimal number.

[0008] In optional embodiments, the step of screening the target rotation matrix from the all candidate rotation matrices according to the workpiece safe and stable placement requirement comprises: for each candidate rotation matrix, calling a rotation matrix merit evaluation function related to the workpiece safe and stable placement requirement to calculate a matrix merit score of the candidate rotation matrix; according to the matrix merit scores of the all candidate rotation matrices respectively, selecting a candidate rotation matrix with the largest matrix merit score as the target rotation matrix.

[0009] In optional embodiments, the workpiece safe and stable placement requirement comprises a clamp vertical axis safe offset requirement and / or a clamp longitudinal axis safe offset requirement; the clamp vertical axis safe offset requirement is represented by a clamp collision avoidance capability evaluation sub-function in the rotation matrix merit evaluation function using the following function formula: ; wherein, the clamp collision avoidance capability evaluation sub-function is represented by an angle between a positive direction of a vertical axis of the clamp coordinate system and a negative direction of a vertical axis of the robot base coordinate system, a clamp safe anti-collision angle threshold value; the clamp longitudinal axis safe offset requirement is represented by a clamp stable opening capability evaluation sub-function in the rotation matrix merit evaluation function using the following function formula: ; wherein, the clamp stable opening capability evaluation sub-function is represented by an equivalent acute angle between a longitudinal axis of the clamp coordinate system and a vertical axis of the robot base coordinate system, a clamp stable opening angle threshold value.

[0010] In optional embodiments, when the rotation matrix merit evaluation function further involves a workpiece vertical axis safe offset requirement, the workpiece vertical axis safe offset requirement is represented by a workpiece stable storage capability evaluation sub-function in the rotation matrix merit evaluation function using the following function formula: ; wherein, for representing the workpiece stable storage capability evaluation sub-function, for representing the candidate rotation matrix corresponding to any one of the candidate rotation matrixes and the robot base coordinate system with respect to the workpiece coordinate system of the target workpiece; for candidate rotation matrix the matrix element value in the 3rd row and the 3rd column.

[0011] In an optional implementation, when the rotation matrix merit evaluation function involves multiple coordinate axis safety offset requirements, the multiple coordinate axis safety offset requirements correspond to a function influence weight respectively in the rotation matrix merit evaluation function, and the rotation matrix merit evaluation function is obtained by weighted summation operation of the function influence weight of each of the multiple coordinate axis safety offset requirements and the capability evaluation sub-function.

[0012] In an optional implementation, the regulation method further comprises: when the target robot arm grasps the target workpiece through the gripper, detecting whether a second actual rotation matrix of the workpiece coordinate system currently relative to the robot base coordinate system satisfies the coordinate system vertical axis rotation constraint condition; if it is detected that the second actual rotation matrix does not satisfy the coordinate system vertical axis rotation constraint condition, jumping to the step of obtaining the set of theoretical rotation matrices of the workpiece coordinate system of the target workpiece relative to the robot base coordinate system of the target robot arm when the target workpiece is stored in the target tool support, and continuing to execute, otherwise directly taking the current workpiece posture of the target workpiece in the robot base coordinate system as the workpiece temporary placement posture.

[0013] In a second aspect, the present application provides a robot arm control device, comprising a processor and a memory, the memory stores a computer program capable of being executed by the processor, and the processor can execute the computer program to implement the workpiece temporary placement posture regulation method in any one of the preceding embodiments.

[0014] In a third aspect, the present application provides a readable storage medium, which stores a computer program, and the computer program is executed by a computer device to implement the workpiece temporary placement posture regulation method in any one of the preceding embodiments.

[0015] In this case, the beneficial effects of the embodiments of the present application can include the following contents: The application obtains a theoretical rotation matrix set of a workpiece coordinate system of a target workpiece (i.e., a workpiece to be temporarily placed) relative to a robot base coordinate system of a target mechanical arm when the target workpiece is stored in a target tool support, filters all candidate rotation matrices that meet the coordinate system vertical axis rotation constraint condition (which is used to represent the workpiece storage requirement at the target tool support, and can be described as "the actual workpiece coordinate system vertical axis positive direction of the target workpiece finally needs to point to the local space of the vertical axis positive direction of the expected workpiece coordinate system (i.e., the workpiece coordinate system of the target workpiece in the ideal workpiece pose state of the target workpiece stored in the target tool support (i.e., the expected workpiece coordinate system pose)) when the target workpiece is stored in the target tool support", which can be equivalently described as "the included angle between the actual workpiece coordinate system vertical axis positive direction of the target workpiece finally stored in the target tool support and the vertical axis positive direction of the expected workpiece coordinate system is less than 90°") from the theoretical rotation matrix set, and then performs matrix transformation on all candidate rotation matrices according to a first actual rotation matrix of the workpiece coordinate system relative to the clamp coordinate system during workpiece grabbing movement, to obtain all candidate rotation matrices of the clamp coordinate system relative to the robot base coordinate system when the target workpiece is stored in the target tool support, and plan the workpiece temporary placement pose (i.e., the theoretical workpiece pose represented by the target candidate rotation matrix corresponding to the target rotation matrix) that needs to be achieved by the target workpiece at the temporary storage area in a manner of filtering the target rotation matrix that meets the workpiece safe and stable placement requirement (which can be described as "the target workpiece is placed in the temporary storage area without collision and disturbance") from all candidate rotation matrices, and then the application adjusts the clamp pose of the target mechanical arm according to the target rotation matrix to adjust the workpiece air pose of the target workpiece to the planned workpiece temporary placement pose, so that the actual workpiece pose of the target workpiece in the temporary storage area can ensure the normal execution of subsequent secondary workpiece grabbing operation, thereby improving the success rate of workpiece grabbing and storage operation.

[0016] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are used for reference. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 The composition schematic diagram of the mechanical arm control device provided by the embodiments of the present application is shown in the figure. Figure 2Fig. 1 is a flowchart of a method for temporarily placing a workpiece according to an embodiment of the present application; Figure 3 Fig. 2 is a flowchart of a method for temporarily placing a workpiece according to another embodiment of the present application; Figure 2 Fig. 3 is a flowchart of a method for temporarily placing a workpiece according to another embodiment of the present application; Figure 4 Fig. 4 is a flowchart of a method for temporarily placing a workpiece according to another embodiment of the present application; Figure 2 Fig. 5 is a flowchart of a method for temporarily placing a workpiece according to another embodiment of the present application; Figure 5 Fig. 6 is a flowchart of a method for temporarily placing a workpiece according to another embodiment of the present application.

[0019] Fig. 1 is a flowchart of a method for temporarily placing a workpiece according to an embodiment of the present application; DETAILED DESCRIPTION

[0020] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0022] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0023] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0024] In the description of the application, it is also necessary to explain that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0025] In addition, in the description of the application, it can be understood that the relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the element defined by the sentence "including a…" does not exclude the presence of other identical elements in the process, method, article or equipment including the element. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0026] Some embodiments of the application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0027] Please refer to Figure 1 , Figure 1 is a schematic diagram of the mechanical arm control device 10 provided by the embodiment of the application. In the embodiment of the application, the mechanical arm control device 10 is used to control the specific motion state of the intelligent mechanical arm, and can automatically plan and design a reasonable temporary workpiece placement posture during the execution of the workpiece pose correction and re-grabbing process of the intelligent mechanical arm for any one workpiece to be stored, and simultaneously drive the intelligent mechanical arm to adjust the workpiece in-air posture, so that the actual workpiece posture of the corresponding workpiece to be stored in the temporary storage area (i.e. the aforementioned temporary workpiece placement posture) can ensure the normal execution of the subsequent secondary workpiece grabbing operation, thereby effectively improving the success rate of workpiece grabbing and storage operation. Wherein, the mechanical arm control device 10 can be remotely communicated and connected with the intelligent mechanical arm, or can be integrated with the intelligent mechanical arm, so as to realize the motion control function of the intelligent mechanical arm.

[0028] In the embodiment, the robot control device 10 can include a memory 11, a processor 12 and a communication unit 13. The memory 11, the processor 12 and the communication unit 13 are electrically connected with each other directly or indirectly to realize data transmission or interaction. For example, the memory 11, the processor 12 and the communication unit 13 can be electrically connected with each other through one or more communication buses or signal lines.

[0029] In the embodiment, the memory 11 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM) and the like. The memory 11 is configured to store a computer program. The processor 12 can execute the computer program after receiving an execution instruction.

[0030] In the embodiment, the processor 12 can be an integrated circuit chip with a signal processing capability. The processor 12 can be a general processor including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, a discrete gate or transistor logic device, a discrete hardware component, at least one of them. The general processor can be a microprocessor or the processor can also be any conventional processor and the like, which can realize or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0031] In the embodiment, the communication unit 13 is configured to establish a communication connection between the robot control device 10 and other electronic devices through a network, and transmits and receives data through the network. The network includes a wired communication network and a wireless communication network. For example, the robot control device 10 can acquire a workpiece pose image of a workpiece to be stored at a certain time point from a vision system through the communication unit 13, so as to determine an actual workpiece pose of the workpiece to be stored in a world coordinate system through the workpiece pose image.

[0032] In the embodiment, the machine arm control device 10 can pre-store a specific computer program related to the workpiece temporary placement posture regulation function at the memory 11, and by driving the processor 12 to execute the specific computer program, for the workpiece to be temporarily placed (i.e. the workpiece to be stored which needs to execute the workpiece posture correction and re-grabbing process) grabbed by the intelligent mechanical arm, according to the workpiece storage requirements at the target tool support and the safe and stable placement requirements of the workpiece at the temporary storage area, a reasonable temporary placement posture of the workpiece is automatically planned and designed, and the intelligent mechanical arm is driven to adjust the workpiece in-air posture, so that the actual workpiece posture of the corresponding workpiece to be temporarily placed in the temporary storage area can ensure the normal execution of the subsequent secondary workpiece grabbing operation, thereby effectively improving the workpiece grabbing and storage operation success rate.

[0033] It can be understood that, Figure 1 The block diagram shown is only a composition schematic diagram of the machine arm control device 10, and the machine arm control device 10 can further include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 1 The components shown in the figure can be realized by hardware, software or a combination thereof. Figure 1 Figure 1 The components shown in the figure can be realized by hardware, software or a combination thereof.

[0034] And for the intelligent mechanical arm, it can include a mechanical arm base, a plurality of mechanical arm rods, a plurality of mechanical arm joints, a mechanical arm end and a clamp, wherein the plurality of mechanical arm rods are hingedly connected to each other through the plurality of mechanical arm joints, two adjacent mechanical arm rods are hingedly connected together through one mechanical arm joint, the first mechanical arm rod in the plurality of hingedly connected mechanical arm rods is hingedly connected to the mechanical arm base through one mechanical arm joint, and the last mechanical arm rod in the plurality of hingedly connected mechanical arm rods is fixedly installed with the mechanical arm end, and the clamp is installed on the mechanical arm end.

[0035] Among them, a Cartesian coordinate system (i.e. robot base coordinate system ) can be constructed at the mechanical arm base to describe the specific motion state of the entire intelligent mechanical arm, and a Cartesian coordinate system (i.e. clamp coordinate system ) can be constructed at the end position of the clamp to assist in describing the motion state of the clamp end. In addition, for the workpiece to be stored which needs or is actually grabbed by the intelligent mechanical arm, a Cartesian coordinate system (i.e. workpiece coordinate system ) can be established at the center of mass of the workpiece to assist in describing the position and posture of each part of the workpiece to be stored.

[0036] When the intelligent mechanical arm moves by grabbing a workpiece to be stored by the clamp, the workpiece coordinate system​ a rotation matrix of the fixture coordinate system relative to the robot base coordinate system The relative pose relationship between the workpiece coordinate system and the fixture coordinate system is fixed (i.e., the relative pose relationship between the workpiece to be stored and the fixture during the workpiece grabbing movement is fixed), and at this time, the coordinate system pose transformation relationship between the workpiece coordinate system, the fixture coordinate system and the robot base coordinate system can be represented as "R W R F R F R B", wherein R W R B represents a rotation matrix of the workpiece coordinate system relative to the robot base coordinate system, and R F R B represents a rotation matrix of the fixture coordinate system relative to the robot base coordinate system. The mechanical arm control device 10 can indirectly adjust the actual workpiece pose of the workpiece to be stored at the intelligent mechanical arm by adjusting the fixture pose based on the above-mentioned coordinate system pose transformation relationship, so as to ensure that the corresponding workpiece to be stored can maintain the desired workpiece temporary placement pose in the temporary storage area, thereby ensuring the normal execution of the subsequent secondary workpiece grabbing operation.

[0037] In the present application, in order to ensure that the robot arm control device 10 can automatically plan and design the workpiece temporary placement pose for the workpiece to be temporarily placed which is grabbed by the intelligent mechanical arm, and drive the intelligent mechanical arm to automatically adjust the workpiece in-air pose according to the planned workpiece temporary placement pose, so as to ensure that the actual workpiece pose of the corresponding workpiece to be temporarily placed in the temporary storage area can ensure the normal execution of the subsequent secondary workpiece grabbing operation, the present application embodiment realizes the foregoing purpose by providing a workpiece temporary placement pose regulation method. The workpiece temporary placement pose regulation method provided by the present application will be described in detail below.

[0038] Please refer to Figure 2 , Figure 2 is one of the flowcharts of the workpiece temporary placement pose regulation method provided by the present application. In the present application embodiment, the workpiece temporary placement pose regulation method shown in Figure 2 may include steps S210-S250.

[0039] Step S210: Obtain a set of theoretical rotation matrices of the workpiece coordinate system of the target workpiece relative to the robot base coordinate system of the target mechanical arm when the target workpiece is stored in the target tool support.

[0040] ​​​​​​​​​​In the embodiment, the target workpiece is a workpiece to be stored in the target tool support, and the target robot is an intelligent robot that uses a gripper to grab the target workpiece and move it. In this case, the target workpiece is a workpiece to be temporarily placed during the workpiece pose correction and re-grabbing process of the target robot. The set of theoretical rotation matrices includes a plurality of theoretical rotation matrices, each of which can be used to represent a theoretically feasible workpiece pose of the target workpiece in the robot base coordinate system when the target workpiece is stored in the target tool support. The set of theoretical rotation matrices can be determined based on the distribution of the workpiece storage space of the target tool support. The workpiece storage space of the target tool support can be in the form of a "hole structure with an opening". The ideal workpiece pose of the target workpiece entering the workpiece storage space requires that the target workpiece vertically enter the workpiece storage space from directly above the opening of the workpiece storage space. Thus, the expected workpiece coordinate system pose of the target workpiece when stored in the target tool support can be further determined, where the expected workpiece coordinate system pose includes an expected workpiece coordinate system attitude, which is the ideal workpiece pose. The expected workpiece coordinate system attitude requires that the positive direction of the workpiece coordinate system vertical axis (i.e., the Z-axis) is aligned with the opening direction of the workpiece storage space. In an embodiment, the opening direction of the workpiece storage space is vertically upward.

[0041] On this basis, please refer to Figure 3 , Figure 3 is Figure 2 Step S210 includes a flowchart of the sub-steps. In the embodiment, step S210 can include sub-steps S211-S214 to effectively determine the set of theoretical rotation matrices of the target workpiece when stored in the target tool support based on the distribution of the workpiece storage space of the target tool support.

[0042] Sub-step S211, obtaining the expected workpiece coordinate system pose of the target workpiece when stored in the target tool support.

[0043] In the embodiment, the gripper posture of the intelligent robot when performing the secondary workpiece grabbing operation needs to ensure that the target workpiece is placed into the workpiece storage space of the target tool support, and the gripper needs to be free from interference with the target tool support. Therefore, the most reliable method is to "grab the upper half of the target workpiece along the vertical axis of the real workpiece coordinate system from top to bottom after the target workpiece is placed in the temporary storage area". This obtains the workpiece coordinate system posture constraint condition "the included angle between the positive direction of the workpiece coordinate system vertical axis corresponding to the temporary workpiece placement posture of the target workpiece at the temporary storage area and the positive direction of the workpiece coordinate system vertical axis corresponding to the expected workpiece coordinate system posture is less than 90°". The robot control device 10 generally drives the target robot to adopt a gripper posture with the positive direction of the gripper coordinate system vertical axis vertically downward to grab the target workpiece from the material box. Therefore, based on the aforementioned coordinate system posture transformation relationship "R = RgRw", the aforementioned workpiece coordinate system posture constraint condition can be equivalently transformed into the workpiece coordinate system-robot base coordinate system rotation constraint condition "the included angle between the positive direction of the workpiece coordinate system vertical axis corresponding to the temporary workpiece placement posture of the target workpiece at the temporary storage area and the positive direction of the vertical axis of the robot base coordinate system is less than 90°" by aligning the positive direction of the workpiece coordinate system vertical axis corresponding to the expected workpiece coordinate system posture with the positive direction of the vertical axis of the robot base coordinate system.

[0044] In an implementation form of the embodiment, the opening of the workpiece storage space is vertically upward, and the positive directions of the coordinate axes of the robot base coordinate system are aligned with the positive directions of the coordinate axes of the workpiece coordinate system in the expected workpiece coordinate system posture (for example, the positive direction of the workpiece coordinate system vertical axis corresponding to the expected workpiece coordinate system posture is aligned with the positive direction of the vertical axis of the robot base coordinate system, the positive direction of the workpiece coordinate system transverse axis (i.e., X-axis) corresponding to the expected workpiece coordinate system posture is aligned with the positive direction of the transverse axis of the robot base coordinate system, and the positive direction of the workpiece coordinate system longitudinal axis (i.e., Y-axis) corresponding to the expected workpiece coordinate system posture is aligned with the positive direction of the longitudinal axis of the robot base coordinate system).

[0045] In substep S212, the expected workpiece coordinate system posture is taken as a reference posture, unit hemispherical sampling is performed at the target tool support, and all feasible storage postures of the workpiece coordinate system at the target tool support are obtained.

[0046] ​In this embodiment, the mechanical arm control device 10 can take the expected workpiece coordinate system position included in the expected workpiece coordinate system pose as the sampling hemispherical center position, and take the normal direction of the workpiece coordinate system vertical axis represented by the expected workpiece coordinate system pose as the hemispherical surface distribution region of the unit hemispherical sampling operation, to sample all feasible storage poses of the workpiece coordinate system in the world coordinate system that avoid interference with the target tool support surrounding environment.

[0047] Sub-step S213: For each feasible storage pose, a theoretical rotation matrix of the workpiece coordinate system relative to the robot base coordinate system under the action of the feasible storage pose is calculated.

[0048] In this embodiment, the coordinate system conversion mapping is performed on each feasible storage pose according to the actual coordinate system pose of the robot base coordinate system in the world coordinate system, to obtain a theoretical homogeneous transformation matrix of the workpiece coordinate system of the target workpiece relative to the robot base coordinate system under the action of the feasible storage pose, and then the theoretical homogeneous transformation matrix is subjected to rotation matrix extraction processing to obtain a theoretical rotation matrix of the workpiece coordinate system relative to the robot base coordinate system under the action of the feasible storage pose.

[0049] Sub-step S214: The theoretical rotation matrices corresponding to all feasible storage poses are subjected to matrix set construction to obtain a theoretical rotation matrix set.

[0050] Therefore, the present application can effectively determine the theoretical rotation matrix set of the target workpiece when stored in the target tool support based on the workpiece storage space distribution condition of the target tool support by performing the above-mentioned sub-steps S211-S214.

[0051] Step S220: All candidate rotation matrices satisfying the coordinate system vertical axis rotation constraint condition are screened out from the theoretical rotation matrix set.

[0052] In this embodiment, the coordinate system vertical axis rotation constraint condition is the above-mentioned workpiece coordinate system-robot base coordinate system rotation constraint condition, and all candidate rotation matrices can ensure that the actual workpiece coordinate system vertical axis of the target workpiece when finally stored in the target tool support can point to the vertical axis positive direction local space of the expected workpiece coordinate system. The coordinate system vertical axis rotation constraint condition is expressed by the following inequality: ; Wherein, is used to represent the rotation matrix of the workpiece coordinate system relative to the robot base coordinate system ; is the rotation matrix The value of the matrix element in the third row and the third column, a rotation metric value between the positive direction of the vertical axis of the workpiece coordinate system and the positive direction of the vertical axis of the robot base coordinate system , the value of which ranges from -1 to 1; a vertical axis rotation constraint threshold value, which is a pure decimal number (i.e., a positive decimal number less than 1).

[0053] In step S230, all candidate rotation matrices are respectively subjected to matrix transformation according to a first actual rotation matrix of the workpiece coordinate system relative to the jig coordinate system during workpiece grabbing movement, to obtain all candidate rotation matrices of the jig coordinate system relative to the robot base coordinate system.

[0054] In this embodiment, the first actual rotation matrix is the rotation matrix when the jig grabs the target workpiece , and the corresponding candidate rotation matrix of each candidate rotation matrix can be calculated according to the formula .

[0055] In step S240, a target rotation matrix that meets the workpiece safe and stable placement requirement is selected from all candidate rotation matrices.

[0056] In this embodiment, after determining all candidate rotation matrices of the jig coordinate system relative to the robot base coordinate system when the target workpiece is stored in the target tool support, a rotation matrix evaluation function related to the workpiece safe and stable placement requirement (which can be described as “the target workpiece is placed in the temporary storage area without collision and disturbance by the jig”) is called to evaluate and screen the optimal rotation matrix from all candidate rotation matrices, so that the target rotation matrix determined finally can meet both the workpiece storage requirement at the target tool support and the workpiece safe and stable placement requirement at the temporary storage area, and the theoretical workpiece posture represented by the target rotation matrix can be used as the workpiece temporary placement posture to ensure the normal execution of the secondary workpiece grabbing operation.

[0057] Alternatively, in the first implementation of this embodiment, the rotation matrix evaluation function only relates to the workpiece safe and stable placement requirement, and the workpiece safe and stable placement requirement is only “jig vertical axis safe offset requirement considering collision avoidance between the jig and the temporary storage area”, and the jig collision avoidance capability evaluation sub-function corresponding to the “jig vertical axis safe offset requirement” can be directly used as the rotation matrix evaluation function. The greater the function value of the jig collision avoidance capability evaluation sub-function, the stronger the collision avoidance capability of the corresponding candidate rotation matrix.

[0058] In this process, the vertical axis safety offset requirement of the clamp is required to be represented by the following function in the corresponding clamp collision avoidance capability evaluation sub-function of the rotation matrix evaluation function: ; Wherein, is used to represent the clamp collision avoidance capability evaluation sub-function, is used to represent the included angle between the positive direction of the vertical axis of the clamp coordinate system and the negative direction of the vertical axis of the robot base coordinate system, is used to represent the clamp safety anti-collision angle threshold.

[0059] Optionally, in the second implementation of the embodiment, the rotation matrix evaluation function only involves the workpiece safety and stable placement requirement, and the workpiece safety and stable placement requirement is only the "clamp longitudinal axis (i.e. the Y axis of the clamp coordinate system) safety offset requirement considering the stability of workpiece placement when the clamp is opened", then the clamp stable opening capability evaluation sub-function corresponding to the "clamp longitudinal axis safety offset requirement" can be directly used as the rotation matrix evaluation function. Wherein, the greater the function value of the clamp stable opening capability evaluation sub-function, the stronger the workpiece placement stability of the clamp when it is opened can be ensured by the corresponding to-be-selected rotation matrix.

[0060] In this process, the vertical axis safety offset requirement of the clamp is required to be represented by the following function in the corresponding clamp collision avoidance capability evaluation sub-function of the rotation matrix evaluation function: ; Wherein, is used to represent the clamp collision avoidance capability evaluation sub-function, is used to represent the equivalent acute angle between the longitudinal axis of the clamp coordinate system and the vertical axis (including the positive direction of the vertical axis or the negative direction of the vertical axis) of the robot base coordinate system, is used to represent the clamp stable opening angle threshold.

[0061] Optionally, in the third implementation of the embodiment, the rotation matrix evaluation function only involves the workpiece safe and stable placement requirement, and the workpiece safe and stable placement requirement includes the "clamper vertical shaft safe offset requirement" and the "clamper longitudinal shaft safe offset requirement", and the "clamper vertical shaft safe offset requirement" and the "clamper longitudinal shaft safe offset requirement" each correspond to a function influence weight in the rotation matrix evaluation function (the sum of the two function influence weights is 1 at this time), and the rotation matrix evaluation function is obtained by weighted summation operation of the function influence weight of each of the "clamper vertical shaft safe offset requirement" and the "clamper longitudinal shaft safe offset requirement" and the ability evaluation sub-function (for example, the clamper collision avoidance ability evaluation sub-function corresponding to the "clamper vertical shaft safe offset requirement", and the clamper stable opening ability evaluation sub-function corresponding to the "clamper longitudinal shaft safe offset requirement").

[0062] Optionally, in the fourth implementation of the embodiment, the rotation matrix evaluation function, on the basis of involving the workpiece safe and stable placement requirement (which can include the "clamper vertical shaft safe offset requirement" and / or the "clamper longitudinal shaft safe offset requirement"), can also involve the "workpiece vertical shaft safe offset requirement considering workpiece stable storage", and for the multiple coordinate axis safe offset requirements involved (that is, at least two of the "clamper vertical shaft safe offset requirement", the "clamper longitudinal shaft safe offset requirement", and the "workpiece vertical shaft safe offset requirement"), a function influence weight corresponding to each of the multiple coordinate axis safe offset requirements is configured in the rotation matrix evaluation function (the sum of the function influence weights of the multiple coordinate axis safe offset requirements is 1), and the rotation matrix evaluation function is obtained by weighted summation operation of the function influence weight of each of the multiple coordinate axis safe offset requirements and the ability evaluation sub-function. Wherein, the greater the function value of the workpiece stable storage ability evaluation sub-function corresponding to the workpiece vertical shaft safe offset requirement, the stronger the workpiece stable storage ability of the target workpiece on the target tool support ensured by the corresponding candidate rotation matrix.

[0063] In this process, the workpiece stable storage ability evaluation sub-function corresponding to the workpiece vertical shaft safe offset requirement in the rotation matrix evaluation function is represented by the following function formula: ; Wherein, is used to represent the workpiece stable storage ability evaluation sub-function, is used to represent the candidate rotation matrix corresponding to any one of the candidate rotation matrices with respect to the workpiece coordinate system and the robot base coordinate system ; is the candidate rotation matrix The value of the matrix element in the third row and the third column.

[0064] On this basis, please refer to Figure 4 , Figure 4 is Figure 2 The flowchart of the sub-steps included in step S240 in FIG. 10. In the embodiment of the present application, step S240 described above can include sub-step S241-sub-step S242, so as to ensure that the target rotation matrix screened out can take into account both the workpiece storage requirements at the target tool support and the workpiece safe and stable placement requirements at the temporary storage area, and the theoretical workpiece posture represented by the target rotation matrix can be used as the workpiece temporary placement posture for ensuring the normal execution of the secondary workpiece grabbing operation.

[0065] Sub-step S241, for each candidate rotation matrix, a rotation matrix merit evaluation function related to the workpiece safe and stable placement requirements is called to calculate the matrix excellence score of the candidate rotation matrix.

[0066] In the embodiment, for each candidate rotation matrix, the rotation matrix merit evaluation function corresponding to any one of the above-mentioned embodiments can be selected according to the matrix excellence evaluation requirements, the rotation matrix merit evaluation function value of the jig coordinate system when maintaining the state of the candidate rotation matrix is calculated, and then the calculated evaluation function value is directly taken as the matrix excellence score of the candidate rotation matrix. The greater the matrix excellence score is, the better the corresponding candidate rotation matrix is.

[0067] Sub-step S242, according to the matrix excellence scores of all candidate rotation matrices, the candidate rotation matrix with the largest matrix excellence score is selected as the target rotation matrix.

[0068] Therefore, by executing the above-mentioned sub-step S241-sub-step S242, the present application can ensure that the target rotation matrix screened out can take into account both the workpiece storage requirements at the target tool support and the workpiece safe and stable placement requirements at the temporary storage area, and the theoretical workpiece posture represented by the target rotation matrix can be used as the workpiece temporary placement posture for ensuring the normal execution of the secondary workpiece grabbing operation, so as to realize the workpiece temporary placement posture automatic planning and design function in the workpiece pose correction and re-grabbing flow execution process.

[0069] Step S250, adjusting the jig posture of the target mechanical arm according to the target rotation matrix, so as to adjust the workpiece temporary placement posture of the target workpiece at the temporary storage area.

[0070] In the embodiment, during the execution of the workpiece pose correction and re-grabbing process, the target robot arm can be driven to adjust the pose of the jig according to the target rotation matrix, so as to indirectly adjust the in-air pose of the target workpiece at the intelligent robot arm, and then the target robot arm can be driven to directly place the target workpiece into the temporary storage area according to the adjusted in-air pose of the target workpiece, so that the actual workpiece pose (i.e., the temporary workpiece placement pose) of the target workpiece in the temporary storage area is maintained at the theoretical workpiece pose corresponding to the target rotation matrix. At this time, the temporary workpiece placement pose can effectively ensure the normal execution of the subsequent secondary workpiece grabbing operation, thereby improving the success rate of the workpiece grabbing and storage operation.

[0071] Therefore, the workpiece temporary placement pose adjustment method provided in the embodiment can be used to automatically plan and design a reasonable temporary workpiece placement pose for a workpiece to be temporarily placed grabbed by an intelligent robot arm according to the workpiece storage requirement at a target tool support and the workpiece safe and stable placement requirement at a temporary storage area during the execution of a workpiece pose correction and re-grabbing process, and drive the intelligent robot arm to automatically adjust the in-air pose of the workpiece, so that the actual workpiece pose of the corresponding workpiece to be temporarily placed in the temporary storage area can ensure the normal execution of the subsequent secondary workpiece grabbing operation, thereby effectively improving the success rate of the workpiece grabbing and storage operation.

[0072] Optionally, please refer to Figure 5 , Figure 5 is a flowchart of a workpiece temporary placement pose adjustment method provided in the embodiment. In the embodiment, compared with the workpiece temporary placement pose adjustment method shown in Figure 2 , the workpiece temporary placement pose adjustment method shown in Figure 5 may further include steps S310 and S320, wherein the step S310 is performed before the step S210, and the step S320 is performed simultaneously with the step S210, so as to avoid unnecessary workpiece temporary placement pose planning operation and in-air pose adjustment operation during the execution of the workpiece pose correction and re-grabbing process, thereby improving the execution efficiency of the workpiece pose correction and re-grabbing process.

[0073] In the step S310, when the target robot arm grabs the target workpiece through the jig, it is detected whether the second actual rotation matrix of the workpiece coordinate system relative to the robot base coordinate system satisfies the coordinate system vertical axis rotation constraint condition.

[0074] In this embodiment, when the target robotic arm grasps the target workpiece through the gripper, and the robotic arm control device 10 determines that the workpiece pose correction and re-grabbing process needs to be executed, the robotic arm control device 10 will detect whether the second actual rotation matrix of the workpiece coordinate system relative to the robot base coordinate system when the target workpiece is grasped and the gripper pose remains unchanged satisfies the above-mentioned vertical axis rotation constraint condition of the coordinate system, that is, determine whether the current workpiece pose (i.e. the current workpiece aerial pose) when the target workpiece is initially grasped meets the workpiece storage requirements at the target tooling bracket.

[0075] When the second actual rotation matrix satisfies the vertical axis rotation constraint of the coordinate system, it indicates that the current workpiece posture of the target workpiece when it is first grasped meets the workpiece storage requirements. The target workpiece can be placed in the temporary storage area while maintaining the current workpiece posture, without performing the workpiece temporary placement posture planning operation and the workpiece aerial posture adjustment operation (i.e., the above steps S210 to S250). At this time, the current workpiece posture is actually used as the temporary placement posture of the target workpiece in the temporary storage area, and the robotic arm control device 10 will execute step S320 accordingly.

[0076] When the second actual rotation matrix does not satisfy the vertical axis rotation constraint of the coordinate system, it means that the current workpiece posture when the target workpiece is first grasped does not meet the workpiece storage requirements. It is necessary to perform the workpiece temporary placement posture planning operation and the workpiece aerial posture adjustment operation (i.e., the above steps S210 to S250). At this time, the robotic arm control device 10 will jump to the above step S210 to continue execution.

[0077] Step S320: Directly use the current workpiece posture in the robot base coordinate system as the temporary workpiece placement posture.

[0078] Therefore, this application can be executed. Figure 5 The workpiece temporary placement posture control method shown avoids unnecessary workpiece temporary placement posture planning operations and workpiece aerial posture adjustment operations during the execution of the workpiece posture correction and re-grabbing process, thereby improving the execution efficiency of the workpiece posture correction and re-grabbing process.

[0079] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which includes one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0080] In addition, the functional modules in the various embodiments of the present disclosure can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. The various functions provided by the present disclosure, if realized in the form of software functional modules and sold or used as independent products, can be stored in a storage medium. Based on this understanding, the technical solutions of the present disclosure essentially or the parts that make contributions to the prior art, or parts of the technical solutions can be embodied in the form of a software product, which is stored in a readable storage medium, includes a number of instructions for causing a computer device (for example, a notebook computer, a smart mechanical arm, etc.) to execute all or part of the steps of the method disclosed in the various embodiments of the present disclosure as a machine arm control device 10. The aforementioned readable storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0081] The above is merely various embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method for regulating a temporary placement posture of a workpiece, characterized by, The control method comprises: obtaining a theoretical rotation matrix set of a workpiece coordinate system of a target workpiece relative to a robot base coordinate system of a target mechanical arm when the target workpiece is stored in a target tool support, wherein the target mechanical arm moves the target workpiece through a clamp; screening all candidate rotation matrices satisfying a coordinate system vertical axis rotation constraint condition from the theoretical rotation matrix set; respectively performing matrix transformation on the all candidate rotation matrices according to a first actual rotation matrix of the workpiece coordinate system relative to a clamp coordinate system in a workpiece grabbing movement process, to obtain all to-be-selected rotation matrices of the clamp coordinate system relative to the robot base coordinate system; screening a target rotation matrix meeting a workpiece safe and stable placement requirement from the all to-be-selected rotation matrices; adjusting a clamp posture of the target mechanical arm according to the target rotation matrix, to adjust a workpiece temporary placement posture of the target workpiece at a temporary storage area.

2. The method of claim 1, wherein, The step of obtaining the theoretical rotation matrix set of the workpiece coordinate system of the target workpiece relative to the robot base coordinate system when the target workpiece is stored in the target tool support comprises: obtaining an expected workpiece coordinate system pose of the target workpiece when the target workpiece is stored in the target tool support, wherein a positive direction of a vertical axis of the expected workpiece coordinate system pose is aligned with a positive direction of a vertical axis of the robot base coordinate system; taking the expected workpiece coordinate system pose as a reference pose, performing unit hemispherical sampling at the target tool support, to obtain all feasible storage poses of the workpiece coordinate system at the target tool support; for each feasible storage pose, calculating a theoretical rotation matrix of the workpiece coordinate system relative to the robot base coordinate system under the action of the feasible storage pose; performing matrix set construction on the theoretical rotation matrices corresponding to all the feasible storage poses respectively, to obtain the theoretical rotation matrix set.

3. The method of claim 1, wherein the step of modulating comprises, The coordinate system vertical axis rotation constraint condition is represented by the following inequality: ； wherein, for representing the workpiece coordinate system with respect to the robot base coordinate system a rotation matrix; is a rotation matrix a matrix element value in the 3rd row and 3rd column, for representing the workpiece coordinate system a rotation measure value between the positive direction of the vertical axis of the workpiece coordinate system and the positive direction of the vertical axis of the robot base coordinate system for representing a vertical axis rotation constraint threshold value, is a pure decimal number.

4. The method of claim 1, wherein the step of modulating comprises: The step of screening the target rotation matrix meeting the workpiece safe and stable placement requirement from the all to-be-selected rotation matrices comprises: for each to-be-selected rotation matrix, calling a rotation matrix merit evaluation function related to the workpiece safe and stable placement requirement, to calculate a matrix excellence degree score of the to-be-selected rotation matrix; according to the matrix excellence degree scores of the all to-be-selected rotation matrices, selecting a to-be-selected rotation matrix with the maximum matrix excellence degree score as the target rotation matrix.

5. The method of claim 4, wherein the step of regulating comprises, The workpiece safe and stable placement requirement comprises a clamp vertical axis safe offset requirement and / or a clamp longitudinal axis safe offset requirement; The clamp vertical axis safe offset requirement is represented by the following function formula in a corresponding clamp collision avoidance capability evaluation sub-function of the rotation matrix merit evaluation function: ； wherein, for representing the gripper collision avoidance capability assessment sub-function, for representing the angle between the positive direction of the vertical axis of the gripper coordinate system and the negative direction of the vertical axis of the robot base coordinate system, for representing the gripper safety anti-collision angle threshold value; The clamp longitudinal axis safe offset requirement is represented by the following function formula in a corresponding clamp stable opening capability evaluation sub-function of the rotation matrix merit evaluation function: ； wherein, for representing the clamp steady opening ability evaluation sub-function, for representing the equivalent acute angle between the longitudinal axis of the clamp coordinate system and the vertical axis of the robot base coordinate system, for representing the clamp steady opening angle threshold.

6. The method of claim 5, wherein the step of regulating comprises, When the rotation matrix merit evaluation function further relates to a workpiece vertical axis safe offset requirement, the workpiece vertical axis safe offset requirement is represented by the following function formula in a corresponding workpiece stable storage capability evaluation sub-function of the rotation matrix merit evaluation function: ； wherein, for representing said workpiece stable storage capacity evaluation sub-function, for representing a candidate rotation matrix corresponding to any one of the candidate rotation matrices with respect to said workpiece coordinate system and said robot base coordinate system; is a candidate rotation matrix the matrix element value in the 3rd row and 3rd column.

7. The method of claim 5 or 6, wherein the method comprises, When the rotation matrix evaluation function involves multiple coordinate axis safety offset requirements, each of the multiple coordinate axis safety offset requirements corresponds to a function influence weight in the rotation matrix evaluation function, and the rotation matrix evaluation function is obtained by weighted summation operation of the function influence weights and the capability evaluation sub-function of each of the multiple coordinate axis safety offset requirements.

8. The method of claim 1-6, wherein, The control method further comprises: when the target robot arm grasps the target workpiece through the gripper, detecting whether a second actual rotation matrix of the workpiece coordinate system relative to the robot base coordinate system at present satisfies the coordinate system vertical axis rotation constraint condition; if it is detected that the second actual rotation matrix does not satisfy the coordinate system vertical axis rotation constraint condition, jumping to the step of obtaining the set of theoretical rotation matrices of the workpiece coordinate system of the target workpiece relative to the robot base coordinate system of the target robot arm when the target workpiece is stored in the target tool support, and continuing to execute, otherwise directly taking the current workpiece posture of the target workpiece in the robot base coordinate system as the temporary workpiece placement posture.

9. A robot control device characterized by comprising: The computer device comprises a processor and a memory, and the memory stores a computer program capable of being executed by the processor, and the processor can execute the computer program to implement the temporary workpiece placement posture control method in any one of claims 1-8.

10. A readable storage medium, having stored thereon a computer program, characterized in that, The computer program is executed by the computer device to implement the temporary workpiece placement posture control method in any one of claims 1-8.

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