From 8e142463469e97171b30aa195af05622a4424717 Mon Sep 17 00:00:00 2001 From: YikaiFu-cart Date: Mon, 24 Aug 2026 18:09:17 +0800 Subject: [PATCH] =?UTF-8?q?docs:=20=E7=94=9F=E6=88=90=E9=80=86=E8=BF=90?= =?UTF-8?q?=E5=8A=A8=E5=AD=A6=E5=AF=B9=E6=AF=94=E5=AE=9E=E9=AA=8C=E7=BB=93?= =?UTF-8?q?=E6=9E=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ik_comparison/episode_0/analysis_2.3.4.md | 29 + .../episode_0/figure_2_11_tracking_error.png | Bin 0 -> 443931 bytes .../episode_0/figure_2_11_tracking_error.svg | 7361 +++++++++++++++++ .../figure_2_12_joint_constraints.png | Bin 0 -> 277806 bytes .../figure_2_12_joint_constraints.svg | 5249 ++++++++++++ .../episode_0/figure_2_13_summary.png | Bin 0 -> 277336 bytes .../episode_0/figure_2_13_summary.svg | 5582 +++++++++++++ output/ik_comparison/episode_0/samples.csv | 4342 ++++++++++ output/ik_comparison/episode_0/summary.json | 50 + 9 files changed, 22613 insertions(+) create mode 100644 output/ik_comparison/episode_0/analysis_2.3.4.md create mode 100644 output/ik_comparison/episode_0/figure_2_11_tracking_error.png create mode 100644 output/ik_comparison/episode_0/figure_2_11_tracking_error.svg create mode 100644 output/ik_comparison/episode_0/figure_2_12_joint_constraints.png create mode 100644 output/ik_comparison/episode_0/figure_2_12_joint_constraints.svg create mode 100644 output/ik_comparison/episode_0/figure_2_13_summary.png create mode 100644 output/ik_comparison/episode_0/figure_2_13_summary.svg create mode 100644 output/ik_comparison/episode_0/samples.csv create mode 100644 output/ik_comparison/episode_0/summary.json diff --git a/output/ik_comparison/episode_0/analysis_2.3.4.md b/output/ik_comparison/episode_0/analysis_2.3.4.md new file mode 100644 index 0000000..5c73da8 --- /dev/null +++ b/output/ik_comparison/episode_0/analysis_2.3.4.md @@ -0,0 +1,29 @@ +# 2.3.4 三种逆运动学方法对比补充分析 + +本结果是基于真实遥操作目标轨迹的离线运动学对比，不代表真机闭环实验。数据来自 +`/home/robot/ACT_Data/tomato_pick/episode_0.hdf5`，目标位姿以 90.0 Hz 重采样；三种方法使用同一初始 +关节状态、同一 URDF、相同收敛阈值和共同的输出速度/加速度限制。 + +DLS 扫描的固定阻尼候选为 0.001, 0.003, 0.01, 0.03, 0.1, 0.3，本轨迹选定 +`0.3`。该参数是在当前评价轨迹上选优，不应解释为跨轨迹最优参数。 + +| 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% | + +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。 + +图 2-12 三种逆运动学方法的最大关节速度与最小归一化关节安全裕度。红色虚线表示 +180°/s 输出速度上限，裕度越大表示离关节位置边界越远。 + +图 2-13 三种逆运动学方法的综合性能对比，包括误差、关节运动、求解时间和成功率。 + +按本次单轨迹数值比较，位置 RMSE 最低的方法为优化 QP，姿态 RMSE 最低的方法为 +优化 QP，成功率最高的方法为DLS、优化 QP。这些结论只描述本次离线复放， +未进行统计显著性检验。 + +当前优化 QP 除六维末端主任务外，还保留项目中的 J3 参考软任务、J4 硬下界与软缓冲， +以及按最小奇异值动态激活的六维可操作度任务；伪逆和 DLS 基线不包含这些附加任务。 diff --git 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