Robot_Arm/docs/algo_svg/02_kinematic_chain.svg

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  <text x="490" y="34" text-anchor="middle" font-size="21" font-weight="bold" fill="#16324f">运动链与关节轴（正视简化示意）</text>
  <text x="490" y="58" text-anchor="middle" font-size="13" fill="#5c7185">沿 −Y 看：X 向右、Z 向上、Y 指向纸内（⊗）。零位 θ=0，臂竖直下垂。</text>

  <!-- 地面与台架 -->
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  <rect x="276" y="78" width="288" height="26" fill="#dfe8f0" stroke="#7ba3c7" stroke-width="1.2"/>
  <text x="254" y="666" text-anchor="middle" font-size="11.5" fill="#5c7185">立柱 P01（台架）</text>
  <text x="295" y="694" text-anchor="middle" font-size="11.5" fill="#5c7185">底座 P02</text>

  <!-- 臂主干 -->
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  <rect x="560" y="72" width="80" height="36" rx="8" fill="#dbe7f3" stroke="#7ba3c7" stroke-width="1.4"/>

  <!-- J1: X 轴 -->
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  <circle cx="600" cy="90" r="7" fill="#7c5cd6"/>
  <text x="702" y="82" font-size="13" font-weight="bold" fill="#16324f">J1 肩抬举</text>
  <text x="702" y="100" font-size="12" fill="#5c7185">轴 +X（滚转，前后方向）</text>

  <!-- J2: Y ⊗ -->
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  <line x1="593" y1="203" x2="607" y2="217" stroke="#1f9d63" stroke-width="2.2"/>
  <line x1="607" y1="203" x2="593" y2="217" stroke="#1f9d63" stroke-width="2.2"/>
  <text x="620" y="202" font-size="13" font-weight="bold" fill="#16324f">J2 肩俯仰</text>
  <text x="620" y="220" font-size="12" fill="#5c7185">轴 +Y（⊗，与 J4/J5 平行同向）</text>

  <!-- J3: Z 自转 -->
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  <circle cx="600" cy="255" r="5.5" fill="#7c5cd6"/>
  <text x="640" y="250" font-size="13" font-weight="bold" fill="#16324f">J3 大臂自转</text>
  <text x="640" y="268" font-size="12" fill="#5c7185">轴 −Z（臂自身轴线）</text>

  <!-- J4 -->
  <circle cx="600" cy="368" r="10" fill="#ffffff" stroke="#1f9d63" stroke-width="2.2"/>
  <line x1="593" y1="361" x2="607" y2="375" stroke="#1f9d63" stroke-width="2.2"/>
  <line x1="607" y1="361" x2="593" y2="375" stroke="#1f9d63" stroke-width="2.2"/>
  <text x="620" y="360" font-size="13" font-weight="bold" fill="#16324f">J4 肘部俯仰</text>
  <text x="620" y="378" font-size="12" fill="#5c7185">轴 +Y（⊗）</text>

  <!-- J5 -->
  <circle cx="600" cy="478" r="10" fill="#ffffff" stroke="#1f9d63" stroke-width="2.2"/>
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  <line x1="607" y1="471" x2="593" y2="485" stroke="#1f9d63" stroke-width="2.2"/>
  <text x="620" y="470" font-size="13" font-weight="bold" fill="#16324f">J5 腕部俯仰</text>
  <text x="620" y="488" font-size="12" fill="#5c7185">轴 +Y（⊗，与 J4 同向 ⇒ R4·R5 可合并）</text>

  <!-- J6 -->
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  <text x="640" y="520" font-size="13" font-weight="bold" fill="#16324f">J6 腕自转</text>
  <text x="640" y="538" font-size="12" fill="#5c7185">轴 −Z（滚转，TCP 在轴线上 ⇒ 不动位置）</text>

  <!-- TCP -->
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  <text x="620" y="612" font-size="13" font-weight="bold" fill="#b06a10">TCP</text>
  <text x="620" y="630" font-size="11.5" fill="#5c7185">工具法兰安装面中心（J6 组打印件最低面）</text>

  <!-- 左侧尺寸链 -->
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    <text x="472" y="154">C0 = 120</text>
    <text x="472" y="236">45</text>
    <text x="472" y="315">113</text>
    <text x="472" y="427">110（前臂）</text>
    <text x="472" y="505">46</text>
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    <text x="498" y="122">z=610</text><text x="498" y="226">z=490</text><text x="498" y="271">z=445</text>
    <text x="498" y="384">z=332</text><text x="498" y="494">z=222</text><text x="498" y="540">z=176</text>
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  <!-- 右侧段名 -->
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    <text x="800" y="154" text-anchor="middle">肩关节组</text>
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    <text x="800" y="295" text-anchor="middle">大臂 158</text>
    <line x1="770" y1="212" x2="770" y2="370" stroke="#b9c8d6" stroke-width="1.2"/>
    <text x="800" y="428" text-anchor="middle">前臂 110</text>
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    <text x="800" y="560" text-anchor="middle">腕组 46 + 法兰</text>
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  <!-- 图例 -->
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  <text x="86" y="586" font-size="13" font-weight="bold" fill="#16324f">图例</text>
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  <text x="136" y="610" font-size="12" fill="#3d5164">X 轴（水平，前后）</text>
  <circle cx="106" cy="630" r="8" fill="#ffffff" stroke="#1f9d63" stroke-width="2"/>
  <line x1="101" y1="625" x2="111" y2="635" stroke="#1f9d63" stroke-width="2"/>
  <line x1="111" y1="625" x2="101" y2="635" stroke="#1f9d63" stroke-width="2"/>
  <text x="136" y="634" font-size="12" fill="#3d5164">Y 轴（指向纸内）</text>
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  <text x="136" y="662" font-size="12" fill="#3d5164">Z 轴（竖直，J3/J6 实为 −Z）</text>

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  <text x="490" y="730" text-anchor="middle" font-size="12.5" fill="#3d5164">结构前提（求解器启动即断言）：J2/J4/J5 平行同向且同一 x 平面（X_ARM≈19.5）、J1 ∥ X、J3/J6 ∥ Z、TCP 落在 J6 轴线上。</text>
  <text x="490" y="750" text-anchor="middle" font-size="12.5" fill="#3d5164">这五条性质让六轴问题可以降阶为「二维冗余扫描 + 闭式支」，任何一条不成立时求解器会打出 WARN 并回落通用路径。</text>
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