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♻️ refactor(compat): 替换 MoveJoint 时间律为解析式 7 阶平滑函数并添加离散限位校验

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* 将预捕获 alpha 数据表替换为解析式 7 阶平滑点到点时间律
  s(u)=35u⁴-84u⁵+70u⁶-20u⁷，形状系数按 1~3 阶导数最大值重算
* 新增离散限位校验：按真实 8ms 采样点反算速度/加速度/jerk，
  不满足时自动拉长总时长后重采样，最多迭代 10000 次
* 实发轨迹落盘：ActualSendJointTraj.txt（角度制）、
  ActualSendJerkStats.txt（点间跃度统计），按时间目录归档
* J519 AcceptsCommand 门控：只有机器人就绪时才发送下一帧，
  减少无效下发；状态日志附带最近发送目标关节轴
* FanucControllerRuntime 构造函数改为必选 ILogger 注入，
  确保 DI 解析时稳定拿到日志实例
* LegacyHttpApiController 移除已废弃的 ConnectServer 调用，
  EnableRobot 参数从 2 改为 4
* 新增跃度报警分析文档和六轴限值表，补充反馈远离拒绝测试

Co-authored-by: Copilot <copilot@github.com>
This commit is contained in:
yunxiao.zhu
2026-05-06 09:06:28 +08:00
parent af65ca03a0
commit b1710e5d01
13 changed files with 1654 additions and 163 deletions
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7
analysis/segment_02_acc_jerk_summary.csv Normal file
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Axis,AccPeakRadPerS2,AccLimitRadPerS2,AccRatio,AccWindowStartS,AccWindowEndS,AccLine,JerkPeakRadPerS3,JerkLimitRadPerS3,JerkRatio,JerkWindowStartS,JerkWindowEndS,JerkLine
Joint1,16.638678,26.900000,0.618538,0.128012,0.135939,18,902.687973,224.220000,4.025903,6.312082,6.320127,791
Joint2,14.521836,22.540000,0.644270,3.088013,3.096086,388,888.335197,187.860000,4.728709,2.904052,2.912069,365
Joint3,14.267221,29.810000,0.478605,0.128012,0.135939,18,728.505873,248.460000,2.932085,0.135939,0.143989,19
Joint4,-34.694506,39.990000,0.867580,6.832125,6.840105,856,-2222.596524,333.300000,6.668456,6.312082,6.320127,791
Joint5,-16.329775,39.630000,0.412056,6.840105,6.848111,857,842.738923,330.270000,2.551667,6.936077,6.944096,869
Joint6,34.766065,72.720000,0.478081,1.392021,1.399995,176,2678.050822,606.010000,4.419153,6.312082,6.320127,791
1 Axis AccPeakRadPerS2 AccLimitRadPerS2 AccRatio AccWindowStartS AccWindowEndS AccLine JerkPeakRadPerS3 JerkLimitRadPerS3 JerkRatio JerkWindowStartS JerkWindowEndS JerkLine
2 Joint1 16.638678 26.900000 0.618538 0.128012 0.135939 18 902.687973 224.220000 4.025903 6.312082 6.320127 791
3 Joint2 14.521836 22.540000 0.644270 3.088013 3.096086 388 888.335197 187.860000 4.728709 2.904052 2.912069 365
4 Joint3 14.267221 29.810000 0.478605 0.128012 0.135939 18 728.505873 248.460000 2.932085 0.135939 0.143989 19
5 Joint4 -34.694506 39.990000 0.867580 6.832125 6.840105 856 -2222.596524 333.300000 6.668456 6.312082 6.320127 791
6 Joint5 -16.329775 39.630000 0.412056 6.840105 6.848111 857 842.738923 330.270000 2.551667 6.936077 6.944096 869
7 Joint6 34.766065 72.720000 0.478081 1.392021 1.399995 176 2678.050822 606.010000 4.419153 6.312082 6.320127 791