arm_dev
7af9e3d4b6
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>
28 lines
1.1 KiB
YAML
28 lines
1.1 KiB
YAML
# 手眼标定结果
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# mode: eye_in_hand
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# camera_source: d405_left
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# views: 25
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# utc: 2026-10-16T02:29:07.572249+00:00
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# board: 11x8 square_m=0.015
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# gripper_tool: tool10120938
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# T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）
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# T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/
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gripper_tool: tool10120938
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T_flange_to_tool:
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- [1.00000000, 0.00000000, 0.00000000, 0.00075900]
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- [0.00000000, 1.00000000, 0.00000000, -0.00008800]
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- [0.00000000, 0.00000000, 1.00000000, 0.22627400]
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- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
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T_cam_to_tool:
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- [0.01117708, -0.86715374, 0.49791511, -0.06192365]
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- [0.99992647, 0.01203574, -0.00148504, -0.00762539]
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- [-0.00470501, 0.49789509, 0.86722450, -0.09779711]
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- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
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# T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
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translation_m: [-0.06116465, -0.00771339, 0.12847689]
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T_4x4:
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- [0.01117708, -0.86715374, 0.49791511, -0.06116465]
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- [0.99992647, 0.01203574, -0.00148504, -0.00771339]
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- [-0.00470501, 0.49789509, 0.86722450, 0.12847689]
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- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
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