flowchart TD
  A[NormalizedRobotModel] --> B[createRobotFromModel]
  B --> C[RobotHandle]
  C --> D[KDL Chain / Solvers Cache]

  E[Motion Request] --> F{motion}
  F -->|MOVEJ| G[planMoveJ]
  F -->|MOVEL| H[planMoveL]
  F -->|MOVEC| I[planMoveC]
  F -->|PATH| J[planPath / validatePath]

  G --> G1[校验 startJoints 和限位]
  G1 --> G2{target 类型}
  G2 -->|joint_target| G3[qEnd = target.joints]
  G2 -->|pose_target| G4[IK 求 qEnd]
  G3 --> G5[关节差分]
  G4 --> G5
  G5 --> G6[梯形速度曲线]
  G6 --> G7[采样关节位置/速度/加速度]
  G7 --> G8[FK 输出 TCP]
  G8 --> R[TrajectoryResult]

  H --> H1[FK 得到起点 TCP]
  H1 --> H2[applyToolAndFrame / applyOffset]
  H2 --> H3[直线位置和姿态插补]
  H3 --> H4[梯形速度曲线]
  H4 --> H5[逐点 IK]
  H5 --> H6[限位/速度/奇异性检查]
  H6 --> R

  I --> I1[FK 得到起点 TCP]
  I1 --> I2[via/target 位姿变换]
  I2 --> I3[三点退化检查]
  I3 --> I4[圆心/半径/法向/弧长]
  I4 --> I5[圆弧采样]
  I5 --> I6[逐点 IK]
  I6 --> I7[圆弧误差和限位检查]
  I7 --> R

  J --> J1[按 segment 顺序规划]
  J1 --> J2[上一段终点关节作为下一段起点]
  J2 --> J3[合并轨迹点和诊断]
  J3 --> J4[保留 sourceMap]
  J4 --> P[PathPlanResult / PathValidationResult]

  R --> D1[MotionDiagnostic]
  P --> D1
  D1 --> D2[error / warning / info]