73 lines
6.2 KiB
XML
73 lines
6.2 KiB
XML
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<text x="490" y="34" text-anchor="middle" font-size="21" font-weight="bold" fill="#16324f">动态限位：静态值只是零位快照，真边界由碰撞模型按姿态二分</text>
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<!-- 数轴（J5 例） -->
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<text x="490" y="70" text-anchor="middle" font-size="14" font-weight="bold" fill="#1f4f8f">以 J5 腕俯仰 + 向为例（数值取自实机数据）</text>
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<g font-size="11.5" fill="#5c7185" text-anchor="middle">
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<text x="120" y="222">−360°</text><text x="500" y="222">0°</text><text x="880" y="222">+360°（电机限位）</text>
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<line x1="880" y1="194" x2="880" y2="206" stroke="#8a9aa8" stroke-width="1.5"/>
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</g>
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<!-- adj 机械区间 -->
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<text x="500" y="136" text-anchor="middle" font-size="12" fill="#2a4a6e">adj 机械区间（相邻件 CAD 实测）：J5 = [−96°, +96°]</text>
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<!-- 静态扫描限位 -->
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<text x="536" y="250" text-anchor="middle" font-size="12" fill="#1f7a4d">零位静态扫描 +34°（撞立柱 P01_A）</text>
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<!-- 动态边界 -->
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<text x="672" y="272" text-anchor="middle" font-size="12" font-weight="bold" fill="#b06a10">当前姿态动态边界 +96°</text>
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<!-- 当前角 -->
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<path d="M 521 194 l 6 12 h -12 z" fill="#16324f"/>
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<text x="489" y="172" text-anchor="end" font-size="12" font-weight="bold" fill="#16324f">当前 θ</text>
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<!-- 二分括号 -->
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<text x="490" y="292" text-anchor="middle" font-size="12" fill="#b06a10">dynLimit：从当前角向限位方向二分「collideFree」翻转点（tol 0.25°）</text>
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<text x="490" y="326" text-anchor="middle" font-size="12.5" fill="#3d5164">为什么静态限位不可信：它来自「其它轴全零」的一次性扫描。实测 J2 正向静态 +9.75°（垂臂零位撞立柱），</text>
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<text x="490" y="346" text-anchor="middle" font-size="12.5" fill="#3d5164">J1=+90° 时动态边界放到 +108.75° —— 撞立柱这类「跨 ≥2 组」的约束必须按姿态重算，滑块才不锁死。</text>
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<!-- solveDyn 流程 -->
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<text x="490" y="394" text-anchor="middle" font-size="14.5" font-weight="bold" fill="#1f4f8f">solveDyn：静态解 → 碰撞校验 → 贴边轴放宽重解（最多 2 轮）</text>
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<rect x="70" y="408" width="150" height="50" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
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<text x="145" y="429" text-anchor="middle" font-weight="bold" fill="#153a6e">静态限位求解</text>
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<text x="145" y="447" text-anchor="middle" fill="#2a4a6e">solveTo（全流水线）</text>
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<rect x="242" y="408" width="150" height="50" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
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<text x="317" y="429" text-anchor="middle" font-weight="bold" fill="#153a6e">全姿态碰撞校验</text>
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<text x="317" y="447" text-anchor="middle" fill="#2a4a6e">不安全→候选表选安全解</text>
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<rect x="414" y="408" width="160" height="50" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
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<text x="494" y="429" text-anchor="middle" font-weight="bold" fill="#153a6e">贴边轴检测（0.5°内）</text>
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<text x="494" y="447" text-anchor="middle" fill="#2a4a6e">非连续轴 · 非硬边</text>
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<rect x="596" y="408" width="150" height="50" rx="8" fill="#fdf2e2" stroke="#c99418" stroke-width="1.3"/>
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<text x="671" y="429" text-anchor="middle" font-weight="bold" fill="#7a5a08">dynLimit 二分边界</text>
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<text x="671" y="447" text-anchor="middle" fill="#6b5312">放宽 ≥5° 才值得重解</text>
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<rect x="768" y="408" width="150" height="50" rx="8" fill="#eef8f1" stroke="#1f6f43" stroke-width="1.3"/>
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<text x="843" y="429" text-anchor="middle" font-weight="bold" fill="#14472c">放宽后重解（粗档）</text>
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<text x="843" y="447" text-anchor="middle" fill="#2c5c44">cost 不升才采用</text>
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<text x="490" y="506" text-anchor="middle" font-size="12.5" fill="#6b5312">滑块夹取 clampAxis：缓存 [轴, 其余轴 1° 量化姿态] → {lo, hi}；拖同一轴直接取缓存，</text>
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<text x="490" y="526" text-anchor="middle" font-size="12.5" fill="#6b5312">拖过边界才重算一次二分（~40ms）。当前姿已干涉时退回机械区间 —— 否则 dynLimit 会把界外值当边界，滑块再也回不来。</text>
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