
SIPA v2.3 Industrial Solver Audit
Robot: KUKA LBR iiwa 14 R820

Frames: 189
Input Format: robodk_instruction_csv
Time Base: fixed_dt

TCP Z Jitter
------------
Std amplitude: 3.64 mm

TCP Jump Events
---------------
100
Frame 0 Jump 51.79 mm
Frame 1 Jump 80.47 mm
Frame 3 Jump 36.89 mm
Frame 4 Jump 38.45 mm
Frame 5 Jump 40.16 mm

Diagnosis: micro oscillation detected
Possible solver divergence

RoboDK Joint-Space Associator
---------------------------
Peak frame: 48
Peak normalized score: 0.1352
Alert threshold: 0.1200
Critical associator events: 2
Interpretation: hidden IK branch-switch risk may exist even if TCP looks smooth.
