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fix: 更新规范化逆运动学实验产物

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YikaiFu-cart
2026-08-24 18:12:29 +08:00
parent f30aac547b
commit 3f88b1ccca
9 changed files with 19055 additions and 19036 deletions
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output/ik_comparison/episode_0/analysis_2.3.4.md
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@@ -9,9 +9,9 @@ DLS 扫描的固定阻尼候选为 0.001, 0.003, 0.01, 0.03, 0.1, 0.3，本轨
| 方法 | 位置 RMSE (m) | 姿态 RMSE (rad) | 最大关节速度 (°/s) | 最小归一化裕度 | 平均/最大求解时间 (ms) | 成功率 |
| --- | ---: | ---: | ---: | ---: | ---: | ---: |
| Jacobian 伪逆 | 0.260542 | 0.713938 | 30.000 | 0.1509 | 0.138 / 0.885 | 1.17% |
| DLS | 0.005845 | 0.011201 | 49.999 | 0.0607 | 0.389 / 1.864 | 100.00% |
| 优化 QP | 0.004929 | 0.011075 | 46.666 | 0.0611 | 0.202 / 1.416 | 100.00% |
| Jacobian 伪逆 | 0.260542 | 0.713938 | 30.000 | 0.1509 | 0.136 / 1.061 | 1.17% |
| DLS | 0.005845 | 0.011201 | 49.999 | 0.0607 | 0.391 / 1.942 | 100.00% |
| 优化 QP | 0.004929 | 0.011075 | 46.666 | 0.0611 | 0.206 / 1.057 | 100.00% |
图 2-11 三种逆运动学方法的末端位置与姿态跟踪误差。纵轴采用对数坐标以同时显示不同
数量级的误差，叉号稀疏标记数值求解失败并保持上一安全关节状态的周期。
output/ik_comparison/episode_0/figure_2_11_tracking_error.png
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output/ik_comparison/episode_0/figure_2_12_joint_constraints.svg
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