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优化传感器对准压头

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yijian
2026-10-15 17:13:04 +08:00
parent ad049d12e4
commit 2a154307fd
15 changed files with 565 additions and 172 deletions
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apps/autocal/docs/inverse-kinematics.md
+12 -11
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@@ -16,10 +16,10 @@ the contact point ends up, and Z is reported, never solved.
| Item | Value | Where |
|---|---|---|
| Tool axis | `z` | `motion/frames.py` |
| Yaw axis | `z`, travel **±180°** | `YAW_AXIS`, `finger_yaw_limit_deg` |
| Pitch axis | `y`, travel **90°** | `PITCH_AXIS`, `finger_pitch_limit_deg` |
| Yaw axis | `z`, travel **±180°**, positive is clockwise from above | `YAW_AXIS`, `YAW_COMMAND_SIGN` |
| Pitch axis | `x`, travel **90°**, positive nods the dome toward `−Y` | `PITCH_AXIS`, `PITCH_COMMAND_SIGN` |
| Stage order | `R_pitch @ R_yaw` | `stage_rotation` |
| Mount map | sensor `x→x, y→z, z→-y` | `AXIS_MAP` |
| Mount map | sensor `x→-x, y→z, z→y` | `AXIS_MAP` |
| Aim direction | `(0, 0, +1)` in the platform frame | `approach_sign = +1` |
### The face is aimed at +Z, and this was wrong
@@ -135,20 +135,21 @@ All 1032 vertices are **in range**, and all 1032 report `upright` under the
tool-axis reference task 1 introduced. Reachability is the yaw limit, not the rim:
see *the face is aimed at +Z* above and *the two exact poses of one normal* below.
### The two pitch bindings are one family
### The pitch axis is the left-right axis
`PITCH_AXIS` is `y`, while the trunnion drawing shows the pitch arc about `x`.
This turns out not to matter:
The right-hand identity
```
R_y(p) · R_z(t) ≡ R_x(p) · R_z(t − 90°)
```
agreeing to machine precision in alignment for every yaw and pitch tried. So the
axis binding is a **naming and zero-offset choice**: the two reach exactly the
same set of alignments, and the 90° difference is absorbed when the yaw stage is
zeroed at commissioning. `PITCH_AXIS` is documentation, not a correctness
question — which is why the tests pin the identity rather than a value.
still says the two bindings can reach the same alignments. It does not say the
drive can use either one. Measured from the commissioned zero on 2026-10-15:
pitch is about platform `x`. An executed pose matched the preview only after
the pitch sign was reversed, so positive pitch is the right-hand sense about
`+X` and nods the dome toward the operator. Axis 2 at `+10°` turned the tip clockwise from above, so positive yaw is
the opposite of the right-hand sense about `+Z`. The solver, the preview and
the number sent to the drive are that commanded angle.
## What the solver reports