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Implement WebAssembly runtime and kinematics coverage

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wangdequan
2026-08-21 06:04:48 +08:00
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docs/linuxcnc-web-wasm-simulation-coverage.md
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| 补偿 | cutter radius、tool length、dynamic tool length、additional tool offset、wear、螺距误差 | `SIM-CORE` |
| 主轴同步 | threading、G33/G33.1、rigid tapping、CSS、gear、orient、multiple spindle | `SIM-DEVICE` |
| 控制环 | PID、feed/velocity/position loop、encoder、stepgen、adaptive feed | `SIM-CORE` |
| 运动学模块 | `trivkins`、`5axiskins`、`corexykins`、`cubic`、`genhexkins`、`genserkins`、`lineardelta`、`maxkins`、`pentakins`、`rosekins`、`rotarydelta`、`rotatekins`、`scarakins`、`scorbot`、`tripod`、`xyzac-trt`、`xyzbc-trt`、`switchkins`、`ugenser/userkfuncs` | `SIM-CORE` |
| 运动学模块 | `trivkins`、`5axiskins`、`corexykins`、`cubic`、`genhexkins`、`genserkins`、`lineardelta`、`maxkins`、`pentakins`、`rosekins`、`rotarydelta`、`rotatekins`、`scarakins`、`scorbot`、`tripod`、`xyzac-trt`、`xyzbc-trt`、`switchkins`、`ugenser/userkfuncs` | `SIM-CORE`；实现族、正逆解、分支/奇异性和 K0-K8 门禁见[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md) |
| DH/机器人 | DH 参数、PUMA、SCARA、六足、Delta、Pentapod、Scorbot 和自定义静态 kinematics | `SIM-CORE` |
| 用户 kinematics | 构建期静态 WASM ABI、热切换由仿真状态机完成 | `SIM-ADAPTER` |
| 坐标/姿态显示 | joints、axes、pose、forward/inverse、tool orientation 和 singularity 错误 | `WEB-EQUIV` |