✨ feat(config): 更新 RobotConfig.json 以支持运行时速度倍率配置

* 在 RobotConfig.json 中新增 speed_ratio 配置，允许在运行时设置默认速度倍率。
* 调整 ControllerClientCompatService 以使用 speed_ratio 初始化机器人设置。
* 更新 TrajectoryLimitValidator 和 FlyshotExecutionSendSequenceBuilder，支持在飞拍链路中临时关闭 jerk 校验，仅保留速度和加速度约束。
* 新增文档记录对 UTTC_MS11 的 jerk 阻断策略调整，确保飞拍链路的执行效率。
* 增加单元测试以验证 speed_ratio 的加载和 jerk 校验的行为。

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -75,6 +75,7 @@ public sealed class ConfigCompatibilityTests
             Assert.Equal(0.5, loaded.Robot.AccLimitScale);
             Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
             Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
+            Assert.Equal(1.0, loaded.Robot.SpeedRatio);
             Assert.True(loaded.Robot.SmoothStartStopTiming);
             Assert.Equal([0, 0, 0], program.OffsetValues);
             Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
@@ -85,6 +86,46 @@ public sealed class ConfigCompatibilityTests
         }
     }
 
+    /// <summary>
+    /// 验证 RobotConfig.json 可以显式配置运行时默认速度倍率，供 MoveJoint 和后续执行链路初始化使用。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsRuntimeSpeedRatio()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0,
+                    "speed_ratio": 0.65
+                  },
+                  "flying_shots": {
+                    "demo": {
+                      "traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
+                      "shot_flags": [false, false, false, false]
+                    }
+                  }
+                }
+                """);
+
+            var loaded = new RobotConfigLoader().Load(configPath);
+
+            Assert.Equal(0.65, loaded.Robot.SpeedRatio, precision: 6);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 验证 RobotConfig.json 可以显式配置规划限速倍率，且该倍率独立于运行时 J519 速度倍率。
     /// </summary>

tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs

@@ -74,7 +74,8 @@ public sealed class ControllerClientCompatConfigRootTests
                 triggerSampleIndexOffsetCycles: 7,
                 accLimitScale: 1.0,
                 jerkLimitScale: 1.0,
-                adaptIcspTryNum: 5);
+                adaptIcspTryNum: 5,
+                speedRatio: 0.65);
             var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
 
             store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
@@ -85,6 +86,7 @@ public sealed class ControllerClientCompatConfigRootTests
             var loaded = store.LoadAll("FANUC_LR_Mate_200iD", out var loadedSettings);
             Assert.NotNull(loadedSettings);
             Assert.Equal(7, loadedSettings.TriggerSampleIndexOffsetCycles);
+            Assert.Equal(0.65, loadedSettings.SpeedRatio, precision: 6);
             Assert.Contains(trajectory.Name, loaded);
 
             store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);

tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs

@@ -239,6 +239,36 @@ public sealed class PlanningCompatibilityTests
         Assert.Contains("dense-acceleration-check", exception.Message);
     }
 
+    /// <summary>
+    /// 验证飞拍链路临时关闭 jerk 复核时，仍保留速度/加速度校验，但不会再被 jerk 单独阻断。
+    /// </summary>
+    [Fact]
+    public void TrajectoryLimitValidator_CanSkipJerkValidation_ForFlyshotPath()
+    {
+        var robot = CreateRobotProfile([100.0], [1000.0], [10.0]);
+        IReadOnlyList<IReadOnlyList<double>> rows =
+        [
+            [0.0, 0.0],
+            [0.008, 0.0],
+            [0.016, 0.01],
+            [0.024, 0.02]
+        ];
+
+        var exception = Assert.Throws<InvalidOperationException>(() =>
+            TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+                robot,
+                rows,
+                trajectoryName: "dense-jerk-check"));
+
+        Assert.Contains("Jerk", exception.Message);
+
+        TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+            robot,
+            rows,
+            trajectoryName: "dense-jerk-check-skip",
+            validateJerk: false);
+    }
+
     /// <summary>
     /// 构造一个最小 RobotProfile，便于规划层单元测试聚焦在时间轴逻辑上。
     /// </summary>

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -887,7 +887,8 @@ public sealed class RuntimeOrchestrationTests
                     "io_keep_cycles": 4,
                     "acc_limit": 0.5,
                     "jerk_limit": 0.25,
-                    "adapt_icsp_try_num": 3
+                    "adapt_icsp_try_num": 3,
+                    "speed_ratio": 0.65
                   },
                   "flying_shots": {}
                 }
@@ -907,6 +908,7 @@ public sealed class RuntimeOrchestrationTests
             var profile = Assert.IsType<RobotProfile>(runtime.LastRobotProfile);
             Assert.Equal(14.905, profile.JointLimits[2].AccelerationLimit, precision: 3);
             Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
+            Assert.Equal(0.65, runtime.GetSpeedRatio(), precision: 6);
         }
         finally
         {