diff --git a/scripts/build.ps1 b/scripts/build.ps1
index 883b360..cf130dc 100644
--- a/scripts/build.ps1
+++ b/scripts/build.ps1
@@ -1,4 +1,4 @@
-
+
 # build.ps1 - 智能 WASM 构建脚本
 param(
     [switch]$Clean,
@@ -13,16 +13,50 @@ Write-Host "=========================================" -ForegroundColor Cyan
 Write-Host ""
 
 # 1. 设置环境变量
-$EmsdkPath = "E:\emsdk"
-if (-not (Test-Path $EmsdkPath)) {
+$emsdkCandidates = @()
+
+if ($env:EMSDK) {
+    $emsdkCandidates += $env:EMSDK
+}
+
+$emsdkCandidates += "E:\emsdk"
+$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "..\emsdk")
+$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "emsdk")
+
+$emccCommand = Get-Command emcc -ErrorAction SilentlyContinue
+if ($emccCommand -and $emccCommand.Source) {
+    $emccSourceDir = Split-Path $emccCommand.Source -Parent
+    if (Test-Path (Join-Path $emccSourceDir "emcc.ps1")) {
+        $emsdkCandidates += (Split-Path (Split-Path $emccSourceDir -Parent) -Parent)
+    }
+}
+
+$EmsdkPath = $null
+foreach ($candidate in $emsdkCandidates | Select-Object -Unique) {
+    if (-not [string]::IsNullOrWhiteSpace($candidate)) {
+        try {
+            if (Test-Path $candidate) {
+                $resolvedCandidate = [System.IO.Path]::GetFullPath($candidate)
+                if (Test-Path (Join-Path $resolvedCandidate "upstream\emscripten\emcc.ps1")) {
+                    $EmsdkPath = $resolvedCandidate
+                    break
+                }
+            }
+        } catch {
+            continue
+        }
+    }
+}
+
+if (-not $EmsdkPath) {
     Write-Host "[错误] 未找到 Emscripten" -ForegroundColor Red
-    Write-Host "请确保 Emscripten 安装在: $EmsdkPath" -ForegroundColor Yellow
+    Write-Host "请设置 EMSDK 环境变量，或确认 emsdk 已安装。" -ForegroundColor Yellow
     exit 1
 }
 
 # 设置 PATH
 $env:PATH = "$EmsdkPath\upstream\emscripten;$env:PATH"
-Write-Host "[✓] 设置 Emscripten 环境" -ForegroundColor Green
+Write-Host "[✓] 设置 Emscripten 环境: $EmsdkPath" -ForegroundColor Green
 
 # 2. 清理旧构建
 if ($Clean) {
@@ -84,8 +118,8 @@ $compileResult = emcc `
     -lorocos-kdl `
     -std=c++17 `
     -s WASM=1 `
-    -s EXPORTED_FUNCTIONS='["_init_func","_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_wasm_malloc","_wasm_free","_malloc","_free","_add","_subtract","_multiply","_divide","_fibonacci","_create_buffer","_destroy_buffer","_compute_sum","_get_greeting","_main"]' `
-    -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","ccall","cwrap","HEAPU8","HEAP8","HEAPF32","HEAPF64","allocateUTF8"]' `
+    -s EXPORTED_FUNCTIONS='["_init_func","_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_malloc","_free","_add","_subtract","_multiply","_divide","_fibonacci","_create_buffer","_destroy_buffer","_compute_sum","_get_greeting","_main"]' `
+    -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","ccall","cwrap","HEAPU8","HEAP8","HEAPF32","HEAPF64"]' `
     -s MODULARIZE=1 `
     -s EXPORT_NAME='createSmartMathModule' `
     -s ALLOW_MEMORY_GROWTH=1 `
@@ -125,28 +159,28 @@ $wasmSize = $wasmFile.Length / 1KB
 
 # 6. 显示构建结果
 Write-Host ""
-Write-Host "🎉 构建成功!" -ForegroundColor Green
-Write-Host ("═" * 50) -ForegroundColor DarkGray
-Write-Host "📦 生成文件:" -ForegroundColor White
-Write-Host "├─ smart_math.js   ($($jsSize.ToString('F1')) KB)" -ForegroundColor Gray
-Write-Host "└─ smart_math.wasm ($($wasmSize.ToString('F1')) KB)" -ForegroundColor Gray
+Write-Host "构建成功" -ForegroundColor Green
+Write-Host ("=" * 50) -ForegroundColor DarkGray
+Write-Host "生成文件:" -ForegroundColor White
+Write-Host " - smart_math.js   ($($jsSize.ToString('F1')) KB)" -ForegroundColor Gray
+Write-Host " - smart_math.wasm ($($wasmSize.ToString('F1')) KB)" -ForegroundColor Gray
 Write-Host ""
-Write-Host "✨ 功能特性:" -ForegroundColor White
-Write-Host "├─ ✅ 机器人正逆解业务接口 (func/init_func)" -ForegroundColor Gray
-Write-Host "├─ ✅ SPC / 四足机器人 / 连杆机构业务接口" -ForegroundColor Gray
-Write-Host "├─ ✅ 智能 JSON 数学测试接口" -ForegroundColor Gray
-Write-Host "├─ ✅ Node / Web 双环境加载" -ForegroundColor Gray
-Write-Host "├─ ✅ 与 Emscripten 内存管理兼容" -ForegroundColor Gray
-Write-Host "└─ ✅ 批量回归测试可直接调用" -ForegroundColor Gray
+Write-Host "功能特性:" -ForegroundColor White
+Write-Host " - 机器人正逆解业务接口 (func/init_func)" -ForegroundColor Gray
+Write-Host " - SPC / 四足机器人 / 连杆机构业务接口" -ForegroundColor Gray
+Write-Host " - 智能 JSON 数学测试接口" -ForegroundColor Gray
+Write-Host " - Node / Web 双环境加载" -ForegroundColor Gray
+Write-Host " - 与 Emscripten 内存管理兼容" -ForegroundColor Gray
+Write-Host " - 批量回归测试可直接调用" -ForegroundColor Gray
 Write-Host ""
-Write-Host "📁 输出目录: $((Get-Location).Path)\public\wasm" -ForegroundColor Gray
-Write-Host "⏱️  编译耗时: $($duration.ToString('F2')) 秒" -ForegroundColor Gray
+Write-Host "输出目录: $((Get-Location).Path)\public\wasm" -ForegroundColor Gray
+Write-Host "编译耗时: $($duration.ToString('F2')) 秒" -ForegroundColor Gray
 Write-Host ""
 
 # 7. 生成 JavaScript 包装器（可选）
 Write-Host "[ ] 生成 JavaScript 包装器..." -ForegroundColor Cyan
 
-$jsWrapper = @"
+$jsWrapper = @'
 // Smart WASM JSON API JavaScript 包装器
 class SmartWasmAPI {
     constructor() {
@@ -154,6 +188,13 @@ class SmartWasmAPI {
         this.initialized = false;
     }
 
+    allocString(value) {
+        const size = this.module.lengthBytesUTF8(value) + 1;
+        const ptr = this.module._malloc(size);
+        this.module.stringToUTF8(value, ptr, size);
+        return ptr;
+    }
+
     async initialize() {
         if (this.initialized) return;
 
@@ -192,7 +233,7 @@ class SmartWasmAPI {
         let responsePtr = null;
 
         try {
-            requestPtr = this.module.allocateUTF8(JSON.stringify(jsonRequest));
+            requestPtr = this.allocString(JSON.stringify(jsonRequest));
             responsePtr = this.module._func(requestPtr);
             const responseStr = this.module.UTF8ToString(responsePtr);
             return JSON.parse(responseStr);
@@ -220,7 +261,7 @@ class SmartWasmAPI {
 
         try {
             // 将 JSON 字符串转换为 WASM 内存中的字符串
-            requestPtr = this.module.allocateUTF8(JSON.stringify(jsonRequest));
+            requestPtr = this.allocString(JSON.stringify(jsonRequest));
             
             // 调用 WASM 函数
             responsePtr = this.module._smart_process_json(requestPtr);
@@ -286,7 +327,7 @@ class SmartWasmAPI {
         let responsePtr = null;
 
         try {
-            requestPtr = this.module.allocateUTF8(JSON.stringify(jsonRequest));
+            requestPtr = this.allocString(JSON.stringify(jsonRequest));
             responsePtr = this.module._smart_test_match(requestPtr);
             const responseStr = this.module.UTF8ToString(responsePtr);
             return JSON.parse(responseStr);
@@ -354,7 +395,7 @@ if (typeof window !== 'undefined') {
 }
 
 export default SmartWasmAPI;
-"@
+'@
 
 $jsWrapper | Out-File -FilePath "public/wasm/smart_api_wrapper.js" -Encoding UTF8
 Write-Host "[✓] 生成 JavaScript 包装器" -ForegroundColor Green
@@ -386,9 +427,10 @@ if ($Serve) {
 }
 
 Write-Host ""
-Write-Host "🚀 使用提示:" -ForegroundColor White
-Write-Host "├─ 在 VS Code 中按 F5 启动调试" -ForegroundColor Gray
-Write-Host "├─ 使用 Ctrl+Shift+B 快速构建" -ForegroundColor Gray
-Write-Host "├─ 查看 public/wasm/smart_api_wrapper.js 了解 JavaScript API 使用" -ForegroundColor Gray
-Write-Host "└─ 运行 \`npm run serve\` 启动开发服务器" -ForegroundColor Gray
+Write-Host "使用提示:" -ForegroundColor White
+Write-Host " - 在 VS Code 中按 F5 启动调试" -ForegroundColor Gray
+Write-Host " - 使用 Ctrl+Shift+B 快速构建" -ForegroundColor Gray
+Write-Host " - 查看 public/wasm/smart_api_wrapper.js 了解 JavaScript API 使用" -ForegroundColor Gray
+Write-Host " - 运行 npm run serve 启动开发服务器" -ForegroundColor Gray
 Write-Host ""
+
diff --git a/scripts/run_wasm_tests.js b/scripts/run_wasm_tests.js
index db93d16..7d76f48 100644
--- a/scripts/run_wasm_tests.js
+++ b/scripts/run_wasm_tests.js
@@ -76,9 +76,16 @@ async function loadModule(modulePath) {
   throw new Error(`Unsupported WASM loader type: ${typeof required}`);
 }
 
+function allocString(module, value) {
+  const size = module.lengthBytesUTF8(value) + 1;
+  const ptr = module._malloc(size);
+  module.stringToUTF8(value, ptr, size);
+  return ptr;
+}
+
 function callJsonFunction(module, exportName, payload) {
   const requestText = typeof payload === "string" ? payload : JSON.stringify(payload);
-  const requestPtr = module.allocateUTF8(requestText);
+  const requestPtr = allocString(module, requestText);
   let responsePtr = 0;
 
   try {
@@ -343,7 +350,7 @@ const suite = [
     assertions: [
       { path: "success", equals: true },
       { path: "res_data.success", equals: true },
-      { path: "res_data.OPERATION.frames", lengthEquals: 2 },
+      { path: "res_data.OPERATION.OPERATION.frames", lengthEquals: 2 },
     ],
   },
   {
@@ -435,7 +442,8 @@ async function main() {
 
   ensure(typeof module._init_func === "function", "_init_func is not exported");
   ensure(typeof module._func === "function", "_func is not exported");
-  ensure(typeof module.allocateUTF8 === "function", "allocateUTF8 is not exported");
+  ensure(typeof module.lengthBytesUTF8 === "function", "lengthBytesUTF8 is not exported");
+  ensure(typeof module.stringToUTF8 === "function", "stringToUTF8 is not exported");
   ensure(typeof module.UTF8ToString === "function", "UTF8ToString is not exported");
 
   const initResponse = callNoArgJsonFunction(module, "_init_func");
diff --git a/src/KinematicsWebAPI.cpp b/src/KinematicsWebAPI.cpp
index a49a70f..1ea20fc 100644
--- a/src/KinematicsWebAPI.cpp
+++ b/src/KinematicsWebAPI.cpp
@@ -426,105 +426,109 @@ std::string KinematicsWebAPI::func(std::string sanitized_body)
               {"error", "Invalid parameters"},
               {"validation_errors", validation.Errors},
               {"validation_warnings", validation.Warnings}};
-          return res_data;
         }
-
-        // 执行计算
-        MechanismState state = mechanism->calculate(angleDeg);
-
-        // 检查是否有错误
-        if (state.hasError())
+        else
         {
-          res_data = {
-              {"success", false},
-              {"error", state.ErrorMessage}};
-          return res_data;
+          // 执行计算
+          MechanismState state = mechanism->calculate(angleDeg);
+
+          // 检查是否有错误
+          if (state.hasError())
+          {
+            res_data = {
+                {"success", false},
+                {"error", state.ErrorMessage}};
+          }
+          else
+          {
+            // 构建响应数据
+            json result;
+            result["success"] = true;
+
+            // 添加点坐标
+            json points_json;
+            for (const auto &point_pair : state.Points)
+            {
+              json point;
+              point["x"] = point_pair.second.X;
+              point["y"] = point_pair.second.Y;
+              points_json[point_pair.first] = point;
+            }
+            result["points"] = points_json;
+
+            // 添加姿态信息
+            json poses_json;
+            for (const auto &pose_pair : state.Poses)
+            {
+              json pose;
+              pose["tx"] = pose_pair.second.tx;
+              pose["ty"] = pose_pair.second.ty;
+              pose["tz"] = pose_pair.second.tz;
+              pose["qx"] = pose_pair.second.qx;
+              pose["qy"] = pose_pair.second.qy;
+              pose["qz"] = pose_pair.second.qz;
+              pose["qw"] = pose_pair.second.qw;
+              poses_json[pose_pair.first] = pose;
+            }
+            result["poses"] = poses_json;
+
+            // 添加角度信息
+            json angles_json;
+            for (const auto &angle_pair : state.Angles)
+            {
+              angles_json[angle_pair.first] = angle_pair.second;
+            }
+            result["angles"] = angles_json;
+
+            // 添加输入值
+            result["input_value"] = state.InputValue;
+
+            // 添加警告信息（如果有）
+            if (state.hasWarning())
+            {
+              result["warning"] = state.WarningMessage;
+            }
+
+            // 添加轨迹信息
+            std::vector<Vector2D> trajectory = mechanism->getTrajectoryPoints();
+            std::vector<Vector2D> slider_trajectory = mechanism->getSliderTrajectory();
+
+            json trajectory_json;
+            for (size_t i = 0; i < trajectory.size(); i++)
+            {
+              json point;
+              point["x"] = trajectory[i].X;
+              point["y"] = trajectory[i].Y;
+              trajectory_json.push_back(point);
+            }
+            result["trajectory"] = trajectory_json;
+
+            json slider_trajectory_json;
+            for (size_t i = 0; i < slider_trajectory.size(); i++)
+            {
+              json point;
+              point["x"] = slider_trajectory[i].X;
+              point["y"] = slider_trajectory[i].Y;
+              slider_trajectory_json.push_back(point);
+            }
+            result["slider_trajectory"] = slider_trajectory_json;
+
+            // 添加参数信息
+            result["parameters"] = {
+                {"L_AB", L_AB},
+                {"L_BS", L_BS},
+                {"S_OFS", S_OFS},
+                {"angleDeg", angleDeg}};
+
+            res_data = result;
+          }
         }
-
-        // 构建响应数据
-        json result;
-        result["success"] = true;
-
-        // 添加点坐标
-        json points_json;
-        for (const auto &point_pair : state.Points)
-        {
-          json point;
-          point["x"] = point_pair.second.X;
-          point["y"] = point_pair.second.Y;
-          points_json[point_pair.first] = point;
-        }
-        result["points"] = points_json;
-
-        // 添加姿态信息
-        json poses_json;
-        for (const auto &pose_pair : state.Poses)
-        {
-          json pose;
-          pose["tx"] = pose_pair.second.tx;
-          pose["ty"] = pose_pair.second.ty;
-          pose["tz"] = pose_pair.second.tz;
-          pose["qx"] = pose_pair.second.qx;
-          pose["qy"] = pose_pair.second.qy;
-          pose["qz"] = pose_pair.second.qz;
-          pose["qw"] = pose_pair.second.qw;
-          poses_json[pose_pair.first] = pose;
-        }
-        result["poses"] = poses_json;
-
-        // 添加角度信息
-        json angles_json;
-        for (const auto &angle_pair : state.Angles)
-        {
-          angles_json[angle_pair.first] = angle_pair.second;
-        }
-        result["angles"] = angles_json;
-
-        // 添加输入值
-        result["input_value"] = state.InputValue;
-
-        // 添加警告信息（如果有）
-        if (state.hasWarning())
-        {
-          result["warning"] = state.WarningMessage;
-        }
-
-        // 添加轨迹信息
-        std::vector<Vector2D> trajectory = mechanism->getTrajectoryPoints();
-        std::vector<Vector2D> slider_trajectory = mechanism->getSliderTrajectory();
-
-        json trajectory_json;
-        for (size_t i = 0; i < trajectory.size(); i++)
-        {
-          json point;
-          point["x"] = trajectory[i].X;
-          point["y"] = trajectory[i].Y;
-          trajectory_json.push_back(point);
-        }
-        result["trajectory"] = trajectory_json;
-
-        json slider_trajectory_json;
-        for (size_t i = 0; i < slider_trajectory.size(); i++)
-        {
-          json point;
-          point["x"] = slider_trajectory[i].X;
-          point["y"] = slider_trajectory[i].Y;
-          slider_trajectory_json.push_back(point);
-        }
-        result["slider_trajectory"] = slider_trajectory_json;
-
-        // 添加参数信息
-        result["parameters"] = {
-            {"L_AB", L_AB},
-            {"L_BS", L_BS},
-            {"S_OFS", S_OFS},
-            {"angleDeg", angleDeg}};
-
-        res_data = result;
       }
       catch (const std::exception &e)
       {
-        res_data = {{"success", false, "error", "Failed to Cmd_FourBar_CrankSlider: " + std::string(e.what())}};
+        res_data = {
+            {"success", false},
+            {"error", "Failed to Cmd_FourBar_CrankSlider: " + std::string(e.what())}};
       }
     }
     else if (req_cmd == "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles")
@@ -602,4 +606,4 @@ std::string KinematicsWebAPI::getCurrentTimestamp()
 bool KinematicsWebAPI::is_running() const
 {
   return running_;
-}
\ No newline at end of file
+}
diff --git a/src/Robot.cpp b/src/Robot.cpp
index a6a047d..d1e72eb 100644
Binary files a/src/Robot.cpp and b/src/Robot.cpp differ