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贴面后不再抬回悬高；MoveL 切回关节后不再把整段位移当前进速度。

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搜孔开局会抬到悬高再落回 hole_hover_z_m，螺纹还没咬合臂就离开孔口。没有接触传感器，到位只认 final_gap 算出的法兰高度，贴面后停在这个 Z。09:25 厂家 MoveL 切回 NRT_JOINT_POSITION 的第一拍把整段关节差算成 1.686 rad/s，前瞻再推 0.07 rad，光心从 5 mm 冲到 276 mm 后急停。切回后钉住结束瞬间的关节角并清零速度，JTC 还指着出发前的关节时不放行。

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-10-19 11:30:49 +08:00
parent 8c4dccccb1
commit 7af9e3d4b6
103 changed files with 5594 additions and 2498 deletions
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handeye/results/89_d435_eye_to_hand.yaml
+9 -9
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@@ -1,22 +1,22 @@
# 手眼标定结果
# mode: eye_to_hand
# camera_source: d435
# views: 24
# utc: 2026-10-12T05:20:30.137123+00:00
# views: 15
# utc: 2026-10-16T03:02:49.214344+00:00
# board: 11x8 square_m=0.02
# gripper_tool: tool10120938
# T_4x4 = cam→基座（AX=XB 的手是 TCP，不折到法兰）
# 旧结果备份在 results/backup/
gripper_tool: tool10120938
T_flange_to_tool:
- [1.00000000, 0.00000000, 0.00000000, -0.00050000]
- [0.00000000, 1.00000000, 0.00000000, 0.00670000]
- [0.00000000, 0.00000000, 1.00000000, 0.22450000]
- [1.00000000, 0.00000000, 0.00000000, 0.00075900]
- [0.00000000, 1.00000000, 0.00000000, -0.00008800]
- [0.00000000, 0.00000000, 1.00000000, 0.22627400]
- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
# T_cam_to_base (eye_to_hand)
translation_m: [0.37094529, -0.52805928, 0.73745585]
translation_m: [0.38078822, -0.52208142, 0.70359964]
T_4x4:
- [-0.00990083, 0.99909706, -0.04131632, 0.37094529]
- [0.99991380, 0.01024832, 0.00820703, -0.52805928]
- [0.00862304, -0.04123150, -0.99911241, 0.73745585]
- [-0.03086969, 0.99833255, -0.04877684, 0.38078822]
- [0.99951823, 0.03067553, -0.00472440, -0.52208142]
- [-0.00322027, -0.04889918, -0.99879853, 0.70359964]
- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
handeye/results/89_eye_in_hand.yaml
+12 -13
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@@ -1,28 +1,27 @@
# 手眼标定结果
# mode: eye_in_hand
# camera_source: d405_left
# views: 21
# utc: 2026-10-12T03:29:51.243487+00:00
# views: 25
# utc: 2026-10-16T02:29:07.572249+00:00
# board: 11x8 square_m=0.015
# gripper_tool: tool10120938
# T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）
# T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/
# 2026-10-12 第一次写出的 T_4x4 乘序反了（tz≈-296 mm），已按同一份 T_cam_to_tool 重折。
gripper_tool: tool10120938
T_flange_to_tool:
- [1.00000000, 0.00000000, 0.00000000, -0.00050000]
- [0.00000000, 1.00000000, 0.00000000, 0.00670000]
- [0.00000000, 0.00000000, 1.00000000, 0.22450000]
- [1.00000000, 0.00000000, 0.00000000, 0.00075900]
- [0.00000000, 1.00000000, 0.00000000, -0.00008800]
- [0.00000000, 0.00000000, 1.00000000, 0.22627400]
- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
T_cam_to_tool:
- [-0.03435184, -0.86951953, 0.49270249, -0.05961995]
- [0.99932767, -0.03620511, 0.00577974, -0.01523625]
- [0.01281276, 0.49256977, 0.87017863, -0.09761517]
- [0.01117708, -0.86715374, 0.49791511, -0.06192365]
- [0.99992647, 0.01203574, -0.00148504, -0.00762539]
- [-0.00470501, 0.49789509, 0.86722450, -0.09779711]
- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
# T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
translation_m: [-0.06011995, -0.00853625, 0.12688483]
translation_m: [-0.06116465, -0.00771339, 0.12847689]
T_4x4:
- [-0.03435184, -0.86951953, 0.49270249, -0.06011995]
- [0.99932767, -0.03620511, 0.00577974, -0.00853625]
- [0.01281276, 0.49256977, 0.87017863, 0.12688483]
- [0.01117708, -0.86715374, 0.49791511, -0.06116465]
- [0.99992647, 0.01203574, -0.00148504, -0.00771339]
- [-0.00470501, 0.49789509, 0.86722450, 0.12847689]
- [0.00000000, 0.00000000, 0.00000000, 1.00000000]