按推荐建议，继续执行

结论：继续按 LinuxCNC 源码直接复用路线推进，新增 PUMA 运动学源码的 vendored 同步、switchkins native 探针、source probe 覆盖和复用文档，并通过 native 验证。

wasm-port/tools/build_native_probes.sh

@@ -439,6 +439,18 @@ SCARA_KINEMATICS_PROBE_SOURCES=(
   "$WRAP_DIR/linuxcnc_scara_kinematics_probe.cpp"
 )
 
+PUMA_KINEMATICS_PROBE_SOURCES=(
+  "$VENDOR_DIR/src/emc/kinematics/kins_util.c"
+  "$VENDOR_DIR/src/emc/kinematics/switchkins.c"
+  "$VENDOR_DIR/src/emc/kinematics/userkfuncs.c"
+  "$VENDOR_DIR/src/emc/kinematics/pumakins.c"
+  "$VENDOR_DIR/src/libnml/posemath/posemath.cc"
+  "$VENDOR_DIR/src/libnml/posemath/_posemath.c"
+  "$VENDOR_DIR/src/libnml/posemath/sincos.c"
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp"
+  "$WRAP_DIR/linuxcnc_puma_kinematics_probe.cpp"
+)
+
 TP_CORE_SOURCES=(
   "$VENDOR_DIR/src/emc/tp/tp.c"
   "$VENDOR_DIR/src/emc/tp/tc.c"
@@ -703,6 +715,13 @@ build_binary_target \
   SCARA_KINEMATICS_PROBE_SOURCES \
   NO_LINK_FLAGS
 
+build_binary_target \
+  linuxcnc_puma_kinematics_probe \
+  "$BUILD_DIR/linuxcnc_puma_kinematics_probe" \
+  TP_FLAGS \
+  PUMA_KINEMATICS_PROBE_SOURCES \
+  NO_LINK_FLAGS
+
 if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_kinematics_probe.exitcode")" == "0" ]]; then
   set +e
   "$BUILD_DIR/linuxcnc_kinematics_probe" \
@@ -898,6 +917,21 @@ else
     "$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stderr.log"
 fi
 
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_puma_kinematics_probe.exitcode")" == "0" ]]; then
+  set +e
+  "$BUILD_DIR/linuxcnc_puma_kinematics_probe" \
+    >"$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.stdout.log" \
+    2>"$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.stderr.log"
+  PUMA_KINEMATICS_RUN_RC=$?
+  set -e
+  echo "$PUMA_KINEMATICS_RUN_RC" > "$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.stderr.log"
+fi
+
 if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_tp_api_probe.exitcode")" == "0" ]]; then
   set +e
   "$BUILD_DIR/linuxcnc_tp_api_probe" \
@@ -1098,6 +1132,12 @@ build_object_target \
   "$VENDOR_DIR/src/emc/kinematics/scarakins.c" \
   TP_FLAGS
 
+build_object_target \
+  linuxcnc_pumakins_source_probe \
+  "$BUILD_DIR/linuxcnc_pumakins_source_probe.o" \
+  "$VENDOR_DIR/src/emc/kinematics/pumakins.c" \
+  TP_FLAGS
+
 build_object_target \
   linuxcnc_interp_convert_source_probe \
   "$BUILD_DIR/linuxcnc_interp_convert_source_probe.o" \

wasm-port/tools/source-manifest.txt

@@ -51,6 +51,8 @@ src/emc/kinematics/rotarydeltakins.c
 src/emc/kinematics/scorbot-kins.c
 src/emc/kinematics/tripodkins.c
 src/emc/kinematics/scarakins.c
+src/emc/kinematics/pumakins.h
+src/emc/kinematics/pumakins.c
 src/emc/tp/tp.h
 src/emc/tp/tp_types.h
 src/emc/tp/tc.h