CN115026836A

CN115026836A - Control method, device and equipment of five-axis manipulator and storage medium

Info

Publication number: CN115026836A
Application number: CN202210862206.XA
Authority: CN
Inventors: 范玉魁; 万小兵; 廉卜旭; 李超; 董改田; 冷俊
Original assignee: SHENZHEN HUACHENG INDUSTRIAL CONTROL CO LTD
Current assignee: SHENZHEN HUACHENG INDUSTRIAL CONTROL CO LTD
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-09-09
Anticipated expiration: 2042-07-21
Also published as: CN115026836B

Abstract

The embodiment of the invention discloses a control method, a control device, control equipment and a storage medium of a five-axis manipulator, wherein the method comprises the following steps: judging whether the target gripper can successfully grip the target object according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object to obtain a first result; if the first result is yes, controlling the target gripper to grip the target object according to the initial pose of the gripper head end, the initial gripping direction, the object pose and the gravity of the target object; if the first result is negative, calculating the target gripper according to the initial position and posture of the gripper head end, the maximum gravity curve, the object position and the gravity of the target object to obtain a target gripping direction and a gripper head end target position and controlling the target gripper to grip the target object according to the gripper head end target position and posture, the target gripping direction, the object position and the gravity of the target object. Therefore, the target gripper can successfully grip the target object once, failure in gripping is avoided, damage to the target gripper is avoided, and production efficiency is improved.

Description

Control method, device and equipment of five-axis manipulator and storage medium

Technical Field

The invention relates to the technical field of manipulator control, in particular to a control method, device and equipment of a five-axis manipulator and a storage medium.

Background

In the industrial automatic production process, a five-axis mechanical arm plays an important role. The motion accuracy of the five-axis manipulator is reduced along with the increase of the use time, so that the five-axis manipulator starts to grab without reaching a specified grabbing position, the grabbing failure is caused to influence the production efficiency, and even a gripper at the tail end of the five-axis manipulator can be damaged; in order to improve the production efficiency, a conveyor belt or other machines are adopted to place articles to the article storage position, and the accuracy of the conveyor belt or other machines is reduced along with the increase of the use time, so that the articles do not reach the article storage position, the grabbing failure is caused, the production efficiency is influenced, and even the gripper at the tail end of the five-axis manipulator can be damaged. Because each axle motion of five-axis manipulator is relatively fixed, when meetting and can not snatch article, current scheme adopts the mode of shutting down the detection, debugging again, and it has not only influenced work efficiency, also can not adapt to factors such as dislocation that accidental factor leads to. When the traditional five-axis manipulator grabs an object, corresponding object grabbing cannot be achieved by flexibly adjusting the gripper and the mechanical shaft, and the relation between the grabbing direction of the gripper and the object is not considered, so that adjustment cannot be flexibly achieved, and the working efficiency is affected.

Disclosure of Invention

Based on this, it is necessary to provide a control method, apparatus, device and storage medium for a five-axis manipulator, aiming at the technical problems that in the prior art, the five-axis manipulator starts to grab and/or articles do not reach the article storage position before reaching the designated grabbing position, so that the grabbing failure affects the production efficiency, even the gripper at the tail end of the five-axis manipulator may be damaged, the corresponding article grabbing cannot be realized by flexibly adjusting the gripper and the mechanical axis, and the relation between the grabbing direction of the gripper and the articles is not considered, so that the adjustment cannot be flexibly realized, and the working efficiency is affected.

A control method of a five-axis manipulator is applied to the five-axis manipulator, a target gripper is arranged at the tail end of the five-axis manipulator, and the method comprises the following steps:

acquiring a grabbing preparation signal;

responding to the grabbing preparation signal, acquiring an initial pose and an initial grabbing direction of a gripper head end of the target gripper, acquiring an object pose and a target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target gripper and the target object;

judging whether the target gripper can successfully grip the target object or not according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object to obtain a first result;

if the first result is yes, controlling the target hand grip to grip the target object according to the initial pose of the hand grip head end, the initial gripping direction, the object pose and the gravity of the target object;

if the first result is negative, determining a target grabbing direction and a grabber head end target pose for the target grabber according to the grabber head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity, and controlling the target grabber to grab the target object according to the grabber head end target pose, the target grabbing direction, the object pose and the target object gravity.

The utility model provides a five-axis manipulator's controlling means, the device is applied to five-axis manipulator, five-axis manipulator's end is equipped with the target tongs, the device includes:

the signal acquisition module is used for acquiring a grabbing preparation signal;

the data acquisition module is used for responding to the grabbing preparation signal, acquiring the initial pose and the initial grabbing direction of the gripper head end of the target gripper, acquiring the object pose and the target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target gripper and the target object;

the first result determining module is used for judging whether the target gripper can successfully grip the target object according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object to obtain a first result;

a first processing module, configured to control the target gripper to grip the target object according to the initial pose of the gripper head end, the initial gripping direction, the object pose, and the target object gravity if the first result is yes;

and the first processing module is used for determining a target grabbing direction and a grabbing head end target pose for the target grabbing hand according to the grabbing head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity if the first result is negative, and controlling the target grabbing hand to grab the target object according to the grabbing head end target pose, the target grabbing direction, the object pose and the target object gravity.

A computer apparatus comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform a method of controlling a five-axis manipulator, the method being applied to a five-axis manipulator having a target gripper at an end thereof, the method comprising the steps of:

acquiring a grabbing preparation signal;

if the first result is yes, controlling the target gripper to grip the target object according to the initial pose of the gripper head end, the initial gripping direction, the object pose and the gravity of the target object;

A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute a method of controlling a five-axis robot, the method being applied to a five-axis robot having a target gripper at an end thereof, the method comprising the steps of:

acquiring a grabbing preparation signal;

responding to the grabbing preparation signal, acquiring an initial pose and an initial grabbing direction of a grabbing head end of the target grabbing hand, acquiring an object pose and a target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target grabbing hand and the target object;

if the first result is negative, determining a target grabbing direction and a grabbing head end target pose for the target grabbing hand according to the grabbing head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity, and controlling the target grabbing hand to grab the target object according to the grabbing head end target pose, the target grabbing direction, the object pose and the target object gravity.

According to the control method of the five-axis manipulator, whether the target gripper can successfully grip the target object is judged according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object, and a first result is obtained; if the first result is yes, controlling the target hand grip to grip the target object according to the initial pose of the hand grip head end, the initial gripping direction, the object pose and the gravity of the target object; if the first result is negative, determining a target grabbing direction and a grabber head end target pose for the target grabber according to the grabber head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity, and controlling the target grabber to grab the target object according to the grabber head end target pose, the target grabbing direction, the object pose and the target object gravity. When a grabbing preparation signal is received, not controlling target grabbing of a target grabbing hand in the first time, but firstly judging whether the target grabbing hand can successfully grab the target object, then controlling the target grabbing hand to grab the target object according to an initial grabbing direction and an initial grabbing direction of a grabbing head end when a first result is successful, and controlling the target grabbing hand to grab the target object according to an adjusted grabbing direction and the grabbing head end pose when the first result is failed, so that the target grabbing hand can successfully grab the target object once, grabbing failure is avoided, the target grabbing hand is prevented from being damaged, and production efficiency is improved; and the maximum gravity curve corresponding to the target object and the grabbing direction of the target grabbing hand is established to judge whether the target grabbing hand can successfully grab the target object, so that the judgment accuracy is improved, and the grabbing direction and the grabbing hand head end pose are adjusted based on the maximum gravity curve corresponding to the target grabbing hand and the target object, so that the feasibility of the adjusted grabbing direction and grabbing hand head end pose is improved, and the target grabbing hand can successfully grab the target object once.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. Wherein:

FIG. 1 is a flow diagram of a method for controlling a five-axis robot in one embodiment;

fig. 2 is a block diagram showing a control apparatus of a five-axis robot in one embodiment;

FIG. 3 is a block diagram of a computer device in one embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In one embodiment, as shown in fig. 1, a method of controlling a five-axis robot is provided. The five-axis manipulator is applied, and the tail end of the five-axis manipulator is provided with a target gripper. The control method of the five-axis manipulator specifically comprises the following steps:

s1: acquiring a grabbing preparation signal;

the grabbing preparation signal is a signal of the five-axis manipulator for completing grabbing preparation work, and at the moment, the tail end of the five-axis manipulator theoretically reaches a pre-specified tail end pose, and the target object theoretically reaches a pre-specified object storage pose.

The five-axis manipulator comprises a plurality of mechanical shafts and a target hand grip, the mechanical shafts of the five-axis manipulator are connected to form a mechanical arm, and the target hand grip is located at the tail end of the mechanical arm formed by the mechanical shafts. The target grip includes a plurality of fingers.

Specifically, the fetch preparation signal sent by another application may be acquired, or the fetch preparation signal generated by the program implementing the present application according to the preset condition may be acquired.

S2: responding to the grabbing preparation signal, acquiring an initial pose and an initial grabbing direction of a grabbing head end of the target grabbing hand, acquiring an object pose and a target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target grabbing hand and the target object;

specifically, when the grabbing preparation signal is acquired, the initial pose of the gripper head end of the target gripper, the maximum gravity curve and the initial grabbing direction are acquired from a local storage space, and the object pose and the target object gravity corresponding to the target object are acquired.

And the initial pose of the gripper head end is the current pose of the head end of the target gripper. It will be appreciated that the gripper head end initial pose is also the pose of the end of the robotic arm formed by the multiple axes of the five-axis robot.

And the maximum gravity curve is a relation curve between the grabbing direction of the target gripper and the maximum object gravity of the target object grabbed by the target gripper. The x axis of the maximum gravity curve represents the grabbing direction of the target hand, and the y axis of the maximum gravity curve represents the maximum object gravity which can be grabbed by the target hand. The grabbing direction is expressed by an angle value.

The initial grabbing direction is a preset grabbing direction.

Preferably, the initial gripping direction is a vertical direction. Thereby enabling each finger of the target grip to exert force.

The target object is an object to be grasped.

The object pose is the current pose of the target object.

The target object gravity is the gravity of the target object.

It can be understood that theoretically, the initial pose of the gripper head end should be the same as the designated end pose, but due to the motion accuracy of the five-axis manipulator or other reasons, the initial pose of the gripper head end may not be the same as the designated end pose, thereby causing a gripping failure.

It is understood that the object pose of the target object should theoretically be the same as the designated object storage pose, but the object pose of the target object may be different from the designated object storage pose due to the accuracy of the conveyor belt or other machine or other reasons, resulting in a gripping failure.

S3: judging whether the target gripper can successfully grip the target object or not according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object to obtain a first result;

specifically, when the head end of the target gripper is in the initial gripper head end pose according to the maximum gravity curve, the object pose and the target object gravity, whether the target gripper can successfully grip the target object in the initial gripping direction is judged, if the target gripper can successfully grip the target object, the first result is determined to be yes, and if the target gripper cannot successfully grip the target object, the first result is determined to be no.

S4: if the first result is yes, controlling the target hand grip to grip the target object according to the initial pose of the hand grip head end, the initial gripping direction, the object pose and the gravity of the target object;

specifically, if the first result is yes, it means that the target object can be successfully grasped without adjusting the five-axis manipulator, and therefore, the head end of the target gripper is fixed at the gripper head end initial pose, the target gripper is controlled to adopt the initial grasping direction, and the target object at the position corresponding to the object pose is grasped by the gripping force capable of grasping the gravity of the target object.

S5: if the first result is negative, determining a target grabbing direction and a grabber head end target pose for the target grabber according to the grabber head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity, and controlling the target grabber to grab the target object according to the grabber head end target pose, the target grabbing direction, the object pose and the target object gravity.

Specifically, if the first result is negative, this indicates that the five-axis manipulator cannot successfully grasp the target object, and if the target gripper is forcibly controlled to grasp the target object, a gripping failure may be caused, and the target gripper may be damaged due to an inappropriate gripping position or collision of other objects, so that the gripping direction and the gripper head end pose of the target gripper need to be calculated, and then the target gripper is controlled to grasp the target object. Therefore, according to the initial pose of the gripper head end, the maximum gravity curve, the object pose and the gravity of the target object, the gripping direction of the target gripper and/or the pose of the gripper head end are/is calculated, the adjusted value of the gripping direction is used as the target gripping direction, the adjusted value of the pose of the gripper head end is used as the target pose of the gripper head end, and it can be understood that if the gripping direction is not adjusted, the initial gripping direction is used as the target gripping direction, and if the pose of the gripper head end is not adjusted, the initial pose of the gripper head end is used as the target pose of the gripper head end.

And fixing the head end of the target gripper at the gripper head end target pose, controlling the target gripper to adopt the target gripping direction, and gripping the target object at the position corresponding to the object pose by adopting the gripping force capable of gripping the gravity of the target object.

According to the embodiment, when the grabbing preparation signal is received, the target gripper is not controlled to grab the target object in the first time, but whether the target gripper can successfully grab the target object is judged, then the target gripper is controlled to grab the target object according to the initial position and the initial grabbing direction of the gripper head end when the first result is successful, and the target gripper is controlled to grab the target object according to the adjusted grabbing direction and the position of the gripper head end when the first result is failed, so that the target gripper can successfully grab the target object once, the grabbing failure is avoided, the target gripper is prevented from being damaged, and the production efficiency is improved; according to the method and the device, whether the target gripper can successfully grip the target object or not is judged based on the maximum gravity curve corresponding to the target gripper gripping direction and the target object, the judgment accuracy is improved, the gripping direction and the gripper head end position and posture are adjusted based on the maximum gravity curve corresponding to the target gripper and the target object, the feasibility of the adjusted gripping direction and the gripper head end position and posture is improved, and therefore the target gripper can successfully grip the target object once.

In an embodiment, the acquiring a capture preparation signal step includes:

s11: acquiring a single-finger gripping force threshold value and the initial gripping direction of the target gripper, acquiring an article stress threshold value corresponding to a target article, and acquiring a friction coefficient and finger distribution data between the target gripper and the target article, wherein the finger distribution data comprises: the grabbing direction, the number of upper fingers and the number of lower fingers;

specifically, a single-finger grip force threshold value and an initial grip direction of the target grip input by the user, an article stress threshold value corresponding to the target article, a friction coefficient and finger distribution data between the target grip and the target article may be obtained from a third-party application.

The single-finger grip threshold of the target grip is the maximum force that each finger of the target grip can apply.

And the stress threshold value of the target object corresponding to the object is the maximum force which can be borne by the target object.

A coefficient of friction between the target grip and the target item is a coefficient of friction between the target grip and a surface of the target item.

And the data of the distribution of the fingers between the target gripper and the target object is data of the gripping direction of the target gripper and the distribution of the fingers when the target gripper grips the target object.

S12: generating the maximum gravity curve according to the single-finger gripping force threshold value, the initial gripping direction, the article stress threshold value, the friction coefficient and the finger distribution data based on a preset gripping constraint function, wherein the x axis of the maximum gravity curve represents the gripping direction of the target gripper, and the y axis of the maximum gravity curve represents the maximum object gravity which can be gripped by the target gripper;

specifically, any grabbing direction of the target gripper is taken as the grabbing direction to be processed, based on a preset grabbing constraint function, the maximum object gravity of the target gripper for grabbing the target object in the grabbing direction to be processed is calculated according to the single-finger grabbing force threshold, the initial grabbing direction, the object stress threshold, the friction coefficient and the finger distribution data, the calculated maximum object gravity is taken as a y-axis coordinate, the grabbing direction to be processed is taken as an x-axis coordinate, and then a curve is constructed by the calculated maximum object gravity and the grabbing direction to be processed, wherein the curve is the maximum gravity curve corresponding to the target gripper and the target object.

S13: acquiring a grabbing preparation motion path corresponding to the five-axis manipulator;

specifically, a grabbing preparation motion path corresponding to the five-axis manipulator input by a user may be acquired, a grabbing preparation motion path corresponding to the five-axis manipulator may also be acquired from a local storage space, and a grabbing preparation motion path corresponding to the five-axis manipulator sent by another application may be acquired.

And the grabbing preparation motion path is a motion path for the five-axis manipulator to prepare for grabbing.

S14: controlling the five-axis manipulator to move according to the grabbing preparation movement path to obtain a manipulator in-place signal;

specifically, the five-axis manipulator is controlled to move according to the grabbing preparation movement path, and a manipulator in-place signal is generated after the movement is finished. At this time, the pose of the tail end of the mechanical arm formed by the multiple mechanical shafts of the five-axis mechanical arm is the initial pose of the gripper head end.

S15: acquiring an article in-place signal corresponding to the target article;

specifically, an article in-place signal corresponding to the target article input by the user may be acquired, an article in-place signal corresponding to the target article may also be acquired from the local storage space, and an article in-place signal corresponding to the target article sent by another application may be acquired.

An item-in-place signal, i.e., an end signal of a conveyor belt or other machine placing the target item. The position of the target object at this time is the object pose.

S16: generating the grabbing preparation signal according to the maximum gravity curve, the manipulator in-place signal and the article in-place signal;

specifically, when the maximum gravity curve, the robot arm in-position signal, and the article in-position signal are acquired, it means that the preparation for gripping is completed, and therefore, a gripping preparation signal is generated.

Wherein the grab constraint function is:

f is the force exerted by each finger of the target grip on the target object, F _max Is the single finger grip threshold, F _s Is the threshold value of the object force, μ is the coefficient of friction, θ is the absolute value of the difference between the gripping direction to be processed and the initial gripping direction, m is the number of upper fingers in the finger distribution data corresponding to the gripping direction to be processed, n is the number of lower fingers in the finger distribution data corresponding to the gripping direction to be processed, G is the number of lower fingers in the finger distribution data corresponding to the gripping direction to be processed _max The maximum object gravity of the target gripper gripping the target object in the to-be-processed gripping direction, wherein the to-be-processed gripping direction is any one of the gripping directions of the target gripper.

According to the embodiment, the grabbing preparation signal is generated according to the maximum gravity curve, the manipulator in-place signal and the object in-place signal, so that a basis is provided for judging whether the target gripper can grab the target object successfully; the maximum gravity curve is generated according to the single-finger gripping force threshold value, the initial gripping direction, the object stress threshold value, the friction coefficient and the finger distribution data based on a preset gripping constraint function, so that a curve of the maximum object gravity which can be gripped by the target gripper at each gripping angle is accurately constructed in advance, a basis is provided for rapidly and accurately judging whether the target gripper can successfully grip the target object or not based on the subsequent constraint of the maximum gravity curve, the damage of the target gripper or the influence of the gripping force on the gripping success rate can be avoided by considering the single-finger gripping force threshold value of the target gripper, the target object can be prevented from being gripped by the target gripper, and the maximum object gravity which can be gripped by the target gripper at each gripping angle can be accurately calculated by considering the finger distribution data, avoiding influencing the success rate of grabbing.

In an embodiment, the step of determining whether the target gripper can successfully grip the target object according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose, and the target object gravity to obtain a first result includes:

s31: finding out the maximum gravity corresponding to the initial grabbing direction from the maximum gravity curve to obtain first gravity;

specifically, the maximum gravity corresponding to the initial grabbing direction is found from the maximum gravity curve, and the found maximum gravity is used as the first gravity.

S32: judging whether the gravity of the target object is not greater than the first gravity function relation;

s33: if so, judging whether the target object is located in a grabbing position range corresponding to the initial grabbing direction according to the initial pose of the head end of the grabbing hand and the object pose, if so, determining that the first result is yes, otherwise, determining that the first result is no;

specifically, if yes, that is, the target object gravity is not greater than (that is, less than or equal to) the first gravity, this means that the target gripper can successfully grip the target object in the initial gripping direction, and therefore, according to the initial position and posture of the gripper head end, it is determined whether the target object is located within a gripping position range corresponding to the initial gripping direction; if so, namely when the head end of the target gripper is located at the initial position of the gripper head end, the target gripper can successfully grip the target object at the position corresponding to the position of the object, and therefore, the first result is determined to be yes; if not, namely when the head end of the target gripper is located at the initial position of the gripper head end, the target gripper cannot successfully grip the target object at the position corresponding to the position of the object, and the gripping direction and/or the position of the gripper head end need to be adjusted for the target gripper, so that whether the first result is positive or negative is determined.

And the grabbing position range corresponding to the initial grabbing direction is the position range for grabbing the object when the object adopts the initial grabbing direction.

S34: if not, determining that the first result is negative.

Specifically, if the target object weight is not greater than the first weight, that is, the target gripper cannot successfully grip the target object in the initial gripping direction, the gripping direction and/or the gripper head end pose of the target gripper needs to be adjusted, and therefore, it is determined whether the first result is negative.

The present embodiment determines that the first result is yes when the target object gravity is not greater than the first gravity and the target object is located within the range of the grip position corresponding to the initial grip direction; and when the gravity of the target object is greater than the first gravity, or the target object is located outside the range of the grabbing position corresponding to the initial grabbing direction, determining whether the first result is negative, so that whether the target object can be successfully grabbed by the target grabbing hand is judged by grabbing, the grabbing failure is avoided, the target grabbing hand is prevented from being damaged, and the production efficiency is improved.

In one embodiment, the determining the target gripper gripping direction and the gripper head end target pose for the target gripper according to the gripper head end initial pose, the initial gripping direction, the maximum gravity curve, the object pose, and the target object gravity includes:

s511: calculating the grabbing direction of the target hand according to the initial pose of the hand head end, the maximum gravity curve, the object pose and the gravity of the target object to obtain an adjustment result;

specifically, when the target gripper with the head end position kept at the initial position of the gripper head end adopts the position and posture of the head end to grip a target object at a position corresponding to the position and posture of the object, the gripping direction with the maximum gravity larger than or equal to the gravity of the target object is searched from the maximum gravity curve, and the gripping direction to be analyzed is obtained; if the target object is located in the range of the grabbing position corresponding to any grabbing direction to be analyzed, determining that the adjustment conclusion in the adjustment result is successful, and determining the adjusted grabbing direction in the adjustment result according to each found grabbing direction; and if the grabbing direction to be analyzed is a null value, or the target object is not located in the grabbing position range corresponding to any grabbing direction to be analyzed, determining that the adjustment conclusion in the adjustment result is failure.

S512: if the adjustment conclusion in the adjustment result is successful, taking the adjusted gripping direction in the adjustment result as the target gripping direction, and taking the initial pose of the gripper head end as the target pose of the gripper head end;

specifically, if the adjustment result in the adjustment result is successful, it means that only the grabbing direction of the target gripper needs to be adjusted, that is, the target gripper whose pose is maintained at the initial pose of the gripper head end can be adopted to successfully grab the target object located at the position corresponding to the object pose, so that the pose of the head end of the target gripper does not need to be adjusted, the grabbing direction after any one of the adjustment results is adjusted is taken as the target grabbing direction, and the initial pose of the gripper head end is taken as the gripper head end target pose.

S513: if the adjustment conclusion in the adjustment result is failure, calculating the gripping direction and the gripper head end pose of the target gripper at the same time according to the constraint relation of each mechanical axis of the five-axis manipulator, the maximum gravity curve, the object pose and the target object gravity to obtain the target gripping direction and the gripper head end target pose.

Specifically, if the adjustment result in the adjustment result is a failure, at this time, it means that only the gripping direction of the target gripper is adjusted, the target gripper whose head end pose is maintained at the initial position of the gripper head end cannot successfully grip the target object located at the position corresponding to the object position pose, and therefore the position of the head end of the target gripper needs to be adjusted, the gripping direction and the gripper head end pose are simultaneously calculated for the target gripper according to the constraint relationship of each mechanical axis of the five-axis manipulator, the maximum gravity curve, the object position and the target object gravity, the adjusted value of the gripping direction obtained by calculation is used as the target gripping direction, and the adjusted value of the gripper head end pose obtained by calculation is used as the gripper head end target position.

The constraint relation of each mechanical axis of the five-axis manipulator means that a plurality of mechanical axes of the five-axis manipulator are constrained to be connected to form position information which can be reached by the tail end of the mechanical arm. Therefore, the feasibility of the target grabbing direction and the target pose of the gripper head end obtained after adjustment is improved, and the grabbing success rate is improved.

In the embodiment, the grabbing direction is firstly calculated, the initial pose of the gripper head end is used as the target pose of the gripper head end when the grabbing direction can be successfully adjusted, and the grabbing direction and the pose of the gripper head end are simultaneously calculated when the grabbing direction can be unsuccessfully adjusted, so that the grabbing direction is firstly preferentially adjusted, the adjustment range of the tail end of the mechanical arm formed by a plurality of mechanical shafts of a five-axis mechanical arm is reduced as much as possible, and the adjustment efficiency is improved.

In an embodiment, the step of calculating the grabbing direction of the target gripper according to the initial pose of the gripper head end, the maximum gravity curve, the object pose and the gravity of the target object to obtain an adjustment result includes:

s5111: searching the gripping force direction with the maximum gravity greater than or equal to the gravity of the target object from the maximum gravity curve to obtain a candidate gripping force direction set;

specifically, the gripping force directions with the maximum gravity greater than or equal to the gravity of the target object are searched from the maximum gravity curve, and each searched gripping force direction is used as a candidate gripping force direction set.

S5112: judging whether the target gripper can successfully grip the target object or not according to the candidate gripping force direction set, the gripper head end initial pose and the object pose to obtain a second result;

specifically, when the pose of the head end of the target gripper is maintained at the initial pose of the gripper head end, whether a gripping direction exists in the candidate gripping direction set so that the target gripper successfully grips the target object located at the position corresponding to the object pose is judged, if the gripping direction exists in the candidate gripping direction set so that the target gripper successfully grips the target object located at the position corresponding to the object pose, the second result is determined to be yes, and if the gripping direction does not exist in the candidate gripping direction set so that the target gripper successfully grips the target object located at the position corresponding to the object pose, the second result is determined to be no.

S5113: if the second result is yes, determining that the adjustment conclusion in the adjustment result is successful, and calculating the grabbing direction according to the candidate grabbing force direction set, the initial pose of the gripper head end and the object pose to obtain the adjusted grabbing direction in the adjustment result;

specifically, if the second result is yes, it means that the target gripper can successfully grip the target object located at the position corresponding to the object pose by only adjusting the gripping direction when the pose of the head end of the target gripper is maintained at the gripper head end initial pose, and therefore, when the pose of the head end of the target gripper is maintained at the gripper head end initial pose, the gripping force directions are intensively searched for from the candidate gripping force directions based on a rule that the adjustment of the gripping direction is minimum, so that the target gripper successfully grips the target object located at the position corresponding to the object pose, and the searched gripping force directions are used as the adjusted gripping directions in the adjustment result.

In the rule of the minimum gripping direction-based adjustment in this step, that is, when the pose of the head end of the target gripper remains at the initial pose of the gripper head end, the absolute value of the difference between the adjusted gripping direction and the initial gripping direction in the adjustment result is the minimum value of the absolute values of the differences between the gripping directions in which the candidate gripping directions are concentrated and the initial gripping directions.

It is to be understood that, when the pose of the head end of the target hand is maintained at the initial pose of the hand head end, the gripping force direction in which any one of the candidate gripping force directions is concentrated to enable the target hand to successfully grip the target object located at the position corresponding to the object pose may be used as the adjusted gripping direction in the adjustment result.

S5114: if the second result is negative, determining that the adjustment conclusion in the adjustment result is failure.

Specifically, if the second result is negative, this means that when the pose of the head end of the target gripper remains the initial pose of the gripper head end, only adjusting the gripping direction does not enable the target gripper to successfully grip the target object located at the position corresponding to the object pose, and thus it is determined that the adjustment conclusion in the adjustment result is failure.

According to the embodiment, the grabbing force directions conforming to the gravity of the target object are firstly found out and serve as a candidate grabbing force direction set, then whether the target grabbing hand can successfully grab the target object or not is judged according to the candidate grabbing force direction set, when the grabbing directions in the candidate grabbing force direction set can successfully grab the target object, the second result is determined to be successful, and the grabbing direction after adjustment is determined based on the rule that the grabbing direction is adjusted to be minimum, so that the adjustment amount of the grabbing direction is reduced, and the production efficiency is improved.

In an embodiment, the step of calculating a gripping direction and a gripper head end pose of the target gripper simultaneously according to the constraint relationship among the mechanical axes of the five-axis manipulator, the maximum gravity curve, the object pose, and the target object gravity to obtain the target gripping direction and the gripper head end target pose includes:

s5131: acquiring an optimal grabbing direction corresponding to the target grab, and calculating the pose of the head end of the target grab according to the optimal grabbing direction and the pose of the object to obtain a first pose;

the optimal gripping direction corresponding to the target gripper is the gripping direction which can protect each element in the target gripper most.

Specifically, the optimal grabbing direction corresponding to the target gripper input by the user may be obtained, the optimal grabbing direction corresponding to the target gripper may also be obtained from a local storage space, and the optimal grabbing direction corresponding to the target gripper sent by another application may be obtained; and calculating the pose of the head end of the target gripper according to the optimal gripping direction and the object pose, and taking the calculated pose of the head end of the gripper as the first pose.

It can be understood that, according to the optimal grasping direction and the object pose, a method for calculating the pose of the gripper head end of the target gripper may be performed noninvasively by a person skilled in the art from the prior art, and details are not described herein.

S5132: judging whether the maximum gravity corresponding to the optimal grabbing direction in the maximum gravity curve is larger than or equal to the gravity of the target object or not, and judging whether the head end of the target grabbing hand can reach the first pose or not based on the constraint relation of each mechanical axis of the five-axis manipulator;

specifically, it is determined whether the maximum gravity in the maximum gravity curve corresponding to the optimal grasping direction is greater than or equal to the target object gravity, that is, it is determined whether the target gripper can successfully grasp the target object in the optimal grasping direction.

And judging whether the head end of the target gripper can reach the first pose or not based on the constraint relation of each mechanical axis of the five-axis manipulator, namely judging whether the pose of the tail end of the mechanical arm formed by each mechanical axis of the five-axis manipulator can reach the first pose or not.

S5133: if yes, taking the optimal grabbing direction as the target grabbing direction, and taking the first position as the object position of the head end of the hand grab;

specifically, if both of the two directions are true, that is, the maximum gravity corresponding to the optimal gripping direction in the maximum gravity curve is greater than or equal to the target object gravity, and based on the constraint relationship of each mechanical axis of the five-axis manipulator, the head end of the target gripper can reach the first pose, which means that the target gripper can successfully grip the target object in the optimal gripping direction, and the pose of the tail end of the mechanical arm formed by each mechanical axis of the five-axis manipulator can reach the first pose, so that the optimal gripping direction is taken as the target gripping direction, and the first pose is taken as the gripper head end target pose, so that the determined target gripping direction and the gripper head end target pose can be feasible.

S5134: if the maximum gravity in the maximum gravity curve is not greater than or equal to each grabbing direction of the gravity of the target object, the maximum gravity in the maximum gravity curve is used as a grabbing direction to be selected, according to each grabbing direction to be selected and the position of the object, the position and the position of the head end of the target grab are calculated to obtain a second position, each second position which can be reached by the head end of the target grab is searched from each second position and is used as a candidate position based on the constraint relation of each mechanical axis of the five-axis mechanical hand, the optimal grabbing direction is subtracted from the grabbing direction to be selected corresponding to each candidate position to obtain a direction difference value, the absolute value of the direction difference value is calculated to obtain a difference absolute value, the difference absolute value with the smallest value is found from each difference absolute value and is used as a target value, and the grabbing direction to be selected corresponding to the target value is used as the target value, and taking the second position corresponding to the target value as the target grabbing direction, and taking the second position corresponding to the target value as the target position of the grabbing head end.

Specifically, if any one of the maximum gravity curves is not found, that is, the maximum gravity corresponding to the optimal grabbing direction in the maximum gravity curve is smaller than the target object gravity, or based on the constraint relationship of each mechanical axis of the five-axis manipulator, the head end of the target gripper cannot reach the first position, which means that the target gripper cannot successfully grab the target object in the optimal grabbing direction, or the position of the tail end of the mechanical arm formed by each mechanical axis of the five-axis manipulator cannot reach the first position, so that the head end position of the target gripper is calculated according to each grabbing direction in which the maximum gravity in the maximum gravity curve is greater than or equal to the target object gravity as the grabbing direction to be selected, and according to each grabbing direction to be selected and the object position, a second position is obtained, based on the constraint relation of each mechanical axis of the five-axis manipulator, searching each second pose which can be reached by the head end of the target gripper from each second pose to serve as a candidate pose, and thus finding out a candidate pose with feasibility and a candidate gripping direction pair; subtracting the optimal grabbing direction from the grabbing direction to be selected corresponding to each candidate pose to obtain a direction difference value, calculating absolute values of the direction difference values to obtain difference absolute values, finding out the difference absolute value with the smallest value from the difference absolute values to serve as a target value, taking the grabbing direction to be selected corresponding to the target value as the target grabbing direction, and taking the second pose corresponding to the target value as the gripper head end target pose, so that the target grabbing direction is determined based on the rule of minimum adjustment of the grabbing direction on the basis of the optimal grabbing direction, and the determined target grabbing direction and the gripper head end target pose have feasibility.

It can be understood that, in another embodiment of the present application, any candidate pose is taken as the gripper head end target pose, and the candidate grabbing direction corresponding to the gripper head end target pose is taken as the target grabbing direction.

Optionally, in another embodiment of the present application, the step of calculating a grabbing direction and a gripper head end pose of the target gripper simultaneously according to a constraint relationship of each mechanical axis of the five-axis manipulator, the maximum gravity curve, the article pose, and the target object gravity to obtain the target grabbing direction and the gripper head end target pose includes: acquiring the optimal grabbing direction corresponding to the target grab; taking each grabbing direction in which the maximum gravity in the maximum gravity curve is greater than or equal to the gravity of the target object as a to-be-selected grabbing direction, performing grabbing head end pose calculation on the target grabbing hand according to each grabbing direction to be selected and the position pose of the object to obtain a second position pose, searching each second position pose which can be reached by the head end of the target grabbing hand from each second position pose based on the constraint relation of each mechanical axis of the five-axis mechanical hand to be used as a candidate position pose, subtracting the optimal grabbing direction from the grabbing direction to be selected corresponding to each candidate position pose to obtain a direction difference value, performing absolute value calculation on the direction difference value to obtain a difference absolute value, finding out the difference absolute value with the minimum value from each difference absolute value to be used as a target value, and taking the to-be-selected grabbing direction corresponding to the target value, and taking the second position corresponding to the target value as the target grabbing direction, and taking the second position corresponding to the target value as the target position of the grabbing head end.

Optionally, in another embodiment of the present application, the step of calculating a gripping direction and a gripper head end pose of the target gripper simultaneously according to a constraint relationship of each mechanical axis of the five-axis manipulator, the maximum gravity curve, the article pose, and the target object gravity to obtain the target gripping direction and the gripper head end target pose includes: acquiring the optimal grabbing direction corresponding to the target grab; taking each grabbing direction in which the maximum gravity in the maximum gravity curve is greater than or equal to the gravity of the target object as a grabbing direction to be selected, calculating the pose of a gripper head end of the target gripper according to each grabbing direction to be selected and the pose of the object to obtain a second pose, searching each second pose which can be reached by the head end of the target gripper from each second pose based on the constraint relation of each mechanical axis of the five-axis manipulator to be used as a candidate pose, taking any one candidate pose as the gripper head end target pose, and taking the grabbing direction to be selected corresponding to the gripper head end target pose as the target grabbing direction.

In this embodiment, when the optimal grabbing direction corresponding to the target gripper enables the target gripper to successfully grab the target object located at the position corresponding to the object pose, the optimal grabbing direction corresponding to the target gripper is used as the target grabbing direction, so that the target gripper is protected to the greatest extent; when the target gripper cannot successfully grip the target object located at the position corresponding to the object pose in the optimal gripping direction corresponding to the target gripper, the gripping direction to be selected corresponding to the minimum absolute value of the difference is taken as the target gripping direction, so that the target gripping direction is determined based on the rule of minimum adjustment of the gripping direction on the basis of the optimal gripping direction, the adjustment amount of the gripping direction is reduced, and the production efficiency is improved; through the constraint relation of each mechanical axis of the five-axis manipulator, the feasibility of the target grabbing direction and the gripper head end target pose obtained after adjustment is improved, and the grabbing success rate is improved.

In one embodiment, the step of controlling the target gripper to grip the target object according to the gripper head end target pose, the target gripping direction, the object pose and the target object gravity includes:

s521: acquiring running instruction position deviation data corresponding to the five-axis manipulator and running instruction direction deviation data corresponding to the target gripper;

specifically, the optimal grabbing direction corresponding to the target gripper input by the user may be obtained, the optimal grabbing direction corresponding to the target gripper may also be obtained from a local storage space, and the optimal grabbing direction corresponding to the target gripper sent by another application may be obtained.

The operation instruction position deviation data is the deviation relation data of the actual movement position of the tail end of the mechanical arm formed by a plurality of mechanical axes of the five-axis mechanical arm and the position operation instruction.

And the running instruction direction deviation data is the deviation relation data of the actual deflection direction of the target gripper and the grabbing direction running instruction.

S522: according to the position deviation data of the operation instruction, compensating the target pose of the gripper head end to obtain the pose of the gripper head end to be executed;

specifically, the gripper head end target pose is compensated according to the operation instruction position deviation data, and the compensated gripper head end target pose is used as the to-be-executed gripper head end pose.

S523: according to the direction deviation data of the operation instruction, the target grabbing direction is compensated to obtain a direction to be grabbed;

specifically, the target grabbing direction is compensated according to the running instruction direction deviation data, and the compensated target grabbing direction is used as a grabbing direction to be executed.

S524: and controlling the target hand to grip the target object according to the head end pose of the hand to be performed, the gripping direction to be performed, the object pose and the gravity of the target object.

Specifically, the head end of the target gripper is moved to the position of the head end of the gripper to be executed, the target gripper is controlled to adopt the gripping direction to be executed, and the target object at the position corresponding to the position of the object position is gripped by the gripping force capable of gripping the gravity of the target object.

In this embodiment, the operational instruction position deviation data corresponding to the five-axis manipulator is used for compensating the target pose of the gripper head end, the operational instruction direction deviation data corresponding to the target gripper is used for compensating the target gripping direction, and the compensated data is used for controlling the target gripper to grip the target object, so that the gripping success rate is improved.

As shown in fig. 2, in one embodiment, there is provided a control apparatus of a five-axis robot applied to a five-axis robot having a target hand provided at a distal end thereof, the apparatus including:

a signal acquisition module 802, configured to acquire a fetch preparation signal;

a data obtaining module 804, configured to respond to the grabbing preparation signal, obtain an initial pose and an initial grabbing direction of a gripper head end of the target gripper, obtain an object pose and a target object gravity corresponding to a target object, and obtain a pre-established maximum gravity curve of the grabbing direction of the target gripper and the target object;

a first result determining module 806, configured to determine whether the target gripper can successfully grip the target object according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose, and the target object gravity, so as to obtain a first result;

a first processing module 808, configured to control the target gripper to grip the target object according to the initial pose of the gripper head end, the initial gripping direction, the object pose, and the target object gravity if the first result is yes;

a first processing module 810, configured to determine, if the first result is negative, a target gripping direction and a gripper head end target pose for the target gripper according to the gripper head end initial pose, the initial gripping direction, the maximum gravity curve, the article pose, and the target object gravity, and control the target gripper to grip the target article according to the gripper head end target pose, the target gripping direction, the article pose, and the target object gravity.

According to the embodiment, when the grabbing preparation signal is received, the target gripper is not controlled to grab the target object in the first time, but whether the target gripper can successfully grab the target object is judged, then the target gripper is controlled to grab the target object according to the initial position and the initial grabbing direction of the gripper head end when the first result is successful, and the target gripper is controlled to grab the target object according to the adjusted grabbing direction and the position of the gripper head end when the first result is failed, so that the target gripper can successfully grab the target object once, the grabbing failure is avoided, the target gripper is prevented from being damaged, and the production efficiency is improved; and the maximum gravity curve corresponding to the target object and the grabbing direction of the target grabbing hand is established to judge whether the target grabbing hand can successfully grab the target object, so that the judgment accuracy is improved, and the grabbing direction and the grabbing hand head end pose are adjusted based on the maximum gravity curve corresponding to the target grabbing hand and the target object, so that the feasibility of the adjusted grabbing direction and grabbing hand head end pose is improved, and the target grabbing hand can successfully grab the target object once.

FIG. 1 is a diagram illustrating an internal architecture of a computer device in one embodiment. The computer device may specifically be a terminal, and may also be a server. As shown in fig. 2, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may further store a computer program that, when executed by the processor, causes the processor to implement a control method of a five-axis manipulator. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to execute a five-axis robot control method. Those skilled in the art will appreciate that the architecture shown in fig. 2 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer apparatus is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform a method of controlling a five-axis robot, the method being applied to a five-axis robot, an end of the five-axis robot being provided with a target gripper, the method comprising the steps of: acquiring a grabbing preparation signal; responding to the grabbing preparation signal, acquiring an initial pose and an initial grabbing direction of a grabbing head end of the target grabbing hand, acquiring an object pose and a target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target grabbing hand and the target object; judging whether the target gripper can successfully grip the target object or not according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object to obtain a first result; if the first result is yes, controlling the target hand grip to grip the target object according to the initial pose of the hand grip head end, the initial gripping direction, the object pose and the gravity of the target object; if the first result is negative, determining a target grabbing direction and a grabber head end target pose for the target grabber according to the grabber head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity, and controlling the target grabber to grab the target object according to the grabber head end target pose, the target grabbing direction, the object pose and the target object gravity.

In one embodiment, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to execute a method of controlling a five-axis robot, the method being applied to a five-axis robot having a target gripper provided at an end thereof, the method including the steps of: acquiring a grabbing preparation signal; responding to the grabbing preparation signal, acquiring an initial pose and an initial grabbing direction of a gripper head end of the target gripper, acquiring an object pose and a target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target gripper and the target object; judging whether the target gripper can successfully grip the target object or not according to the initial pose of the gripper head end, the maximum gravity curve, the initial gripping direction, the object pose and the gravity of the target object to obtain a first result; if the first result is yes, controlling the target hand grip to grip the target object according to the initial pose of the hand grip head end, the initial gripping direction, the object pose and the gravity of the target object; if the first result is negative, determining a target grabbing direction and a grabber head end target pose for the target grabber according to the grabber head end initial pose, the initial grabbing direction, the maximum gravity curve, the object pose and the target object gravity, and controlling the target grabber to grab the target object according to the grabber head end target pose, the target grabbing direction, the object pose and the target object gravity.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a non-volatile computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A control method of a five-axis manipulator is applied to the five-axis manipulator, a target gripper is arranged at the tail end of the five-axis manipulator, and the method comprises the following steps:

acquiring a grabbing preparation signal;

2. The control method of a five-axis robot according to claim 1, wherein the acquiring a grip preparation signal step includes:

acquiring a single-finger gripping force threshold value and the initial gripping direction of the target gripper, acquiring an article stress threshold value corresponding to a target article, and acquiring a friction coefficient and finger distribution data between the target gripper and the target article, wherein the finger distribution data comprises: the grabbing direction, the number of upper fingers and the number of lower fingers;

generating the maximum gravity curve according to the single-finger gripping force threshold value, the initial gripping direction, the article stress threshold value, the friction coefficient and the finger distribution data based on a preset gripping constraint function, wherein the x axis of the maximum gravity curve represents the gripping direction of the target gripper, and the y axis of the maximum gravity curve represents the maximum object gravity which can be gripped by the target gripper;

acquiring a grabbing preparation motion path corresponding to the five-axis manipulator;

controlling the five-axis manipulator to move according to the grabbing preparation movement path to obtain a manipulator in-place signal;

acquiring an article in-place signal corresponding to the target article;

generating the grabbing preparation signal according to the maximum gravity curve, the manipulator in-place signal and the article in-place signal;

wherein the grab constraint function is:

f is the force exerted by each finger of the target grip on the target object, F _max Is the single finger grip threshold, F _s Is the threshold value of the object force, μ is the friction coefficient, θ is the absolute value of the difference between the gripping direction to be processed and the initial gripping direction, m is the number of the upper fingers corresponding to the gripping direction to be processed in the finger distribution data, n is the number of the lower fingers corresponding to the gripping direction to be processed in the finger distribution data, G _max The maximum object gravity of the target gripper gripping the target object in the to-be-processed gripping direction, wherein the to-be-processed gripping direction is any one of the gripping directions of the target gripper.

3. The method for controlling a five-axis manipulator according to claim 1, wherein the step of determining whether the target gripper can successfully grip the target object according to the gripper head end initial pose, the maximum gravity curve, the initial gripping direction, the object pose, and the target object gravity to obtain a first result includes:

finding out the maximum gravity corresponding to the initial grabbing direction from the maximum gravity curve to obtain a first gravity;

judging whether the gravity of the target object is not greater than the first gravity;

if so, judging whether the target object is located in a grabbing position range corresponding to the initial grabbing direction according to the initial pose of the head end of the hand grab and the object pose, if so, determining that the first result is yes, otherwise, determining that the first result is no;

if not, determining that the first result is negative.

4. The method of controlling a five-axis robot according to claim 1, wherein the step of determining a target grip direction and a grip head end target pose for the target grip based on the grip head end initial pose, the initial grip direction, the maximum gravity curve, the article pose, and the target object gravity comprises:

calculating the grabbing direction of the target hand according to the initial pose of the hand head end, the maximum gravity curve, the object pose and the gravity of the target object to obtain an adjustment result;

if the adjustment conclusion in the adjustment result is successful, taking the adjusted gripping direction in the adjustment result as the target gripping direction, and taking the initial pose of the gripper head end as the target pose of the gripper head end;

if the adjustment conclusion in the adjustment result is failure, calculating the gripping direction and the gripper head end pose of the target gripper at the same time according to the constraint relation of each mechanical axis of the five-axis manipulator, the maximum gravity curve, the object pose and the target object gravity to obtain the target gripping direction and the gripper head end target pose.

5. The control method of the five-axis manipulator according to claim 4, wherein the step of calculating the gripping direction of the target gripper according to the initial pose of the gripper head end, the maximum gravity curve, the object pose and the gravity of the target object to obtain an adjustment result comprises:

searching the gripping force direction with the maximum gravity greater than or equal to the gravity of the target object from the maximum gravity curve to obtain a candidate gripping force direction set;

judging whether the target gripper can successfully grip the target object or not according to the candidate gripping force direction set, the gripper head end initial pose and the object pose to obtain a second result;

if the second result is yes, determining that the adjustment conclusion in the adjustment result is successful, and calculating the grabbing direction according to the candidate grabbing force direction set, the initial pose of the gripper head end and the object pose to obtain the adjusted grabbing direction in the adjustment result;

and if the second result is negative, determining that the adjustment conclusion in the adjustment result is failure.

6. The method according to claim 4, wherein the step of calculating a gripping direction and a gripper head end pose of the target gripper simultaneously according to the constraint relationship among the mechanical axes of the five-axis robot, the maximum gravity curve, the object pose, and the target object gravity to obtain the target gripping direction and the gripper head end target pose includes:

acquiring an optimal grabbing direction corresponding to the target grab, and calculating the pose of the head end of the target grab according to the optimal grabbing direction and the pose of the object to obtain a first pose;

judging whether the maximum gravity corresponding to the optimal grabbing direction in the maximum gravity curve is larger than or equal to the gravity of the target object or not, and judging whether the head end of the target gripper can reach the first pose or not based on the constraint relation of each mechanical axis of the five-axis manipulator;

if yes, taking the optimal grabbing direction as the target grabbing direction, and taking the first position as the object position of the head end of the hand grab;

if the maximum gravity in the maximum gravity curve is not greater than or equal to each grabbing direction of the gravity of the target object, the maximum gravity in the maximum gravity curve is used as a grabbing direction to be selected, according to each grabbing direction to be selected and the position of the object, the position and the position of the head end of the target grab are calculated to obtain a second position, each second position which can be reached by the head end of the target grab is searched from each second position and is used as a candidate position based on the constraint relation of each mechanical axis of the five-axis mechanical hand, the optimal grabbing direction is subtracted from the grabbing direction to be selected corresponding to each candidate position to obtain a direction difference value, the absolute value of the direction difference value is calculated to obtain a difference absolute value, the difference absolute value with the smallest value is found from each difference absolute value and is used as a target value, and the grabbing direction to be selected corresponding to the target value is used as the target value, and taking the second position corresponding to the target value as the target grabbing direction, and taking the second position corresponding to the target value as the target position of the grabbing head end.

7. The method for controlling the five-axis manipulator according to claim 1, wherein the step of controlling the target gripper to grip the target object according to the gripper head end target pose, the target gripping direction, the object pose and the target object gravity comprises:

acquiring operation instruction position deviation data corresponding to the five-axis manipulator and operation instruction direction deviation data corresponding to the target gripper;

according to the position deviation data of the operation instruction, compensating the target pose of the gripper head end to obtain the pose of the gripper head end to be executed;

according to the direction deviation data of the operation instruction, compensating the target grabbing direction to obtain a grabbing direction to be executed;

and controlling the target gripper to grip the target object according to the head end pose of the gripper to be performed, the gripping direction to be performed, the object pose and the gravity of the target object.

8. The control device of the five-axis manipulator is characterized in that the control device is applied to the five-axis manipulator, a target gripper is arranged at the tail end of the five-axis manipulator, and the control device comprises:

the data acquisition module is used for responding to the grabbing preparation signal, acquiring an initial pose and an initial grabbing direction of a gripper head end of the target gripper, acquiring an object pose and a target object gravity corresponding to a target object, and acquiring a pre-established maximum gravity curve of the grabbing direction of the target gripper and the target object;

and the first processing module is used for determining a target grabbing direction and a grabbing head end target position for the target grabbing hand according to the grabbing head end initial position and posture, the initial grabbing direction, the maximum gravity curve, the object position and the target object gravity if the first result is negative, and controlling the target grabbing hand to grab the target object according to the grabbing head end target position and posture, the target grabbing direction, the object position and the target object gravity.

9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.