diff --git a/ros2/src/udp_teleop/udp_teleop/vision_grasp.py b/ros2/src/udp_teleop/udp_teleop/vision_grasp.py
index 6651209..2026943 100644
--- a/ros2/src/udp_teleop/udp_teleop/vision_grasp.py
+++ b/ros2/src/udp_teleop/udp_teleop/vision_grasp.py
@@ -71,10 +71,14 @@ def tcp_to_base(
     """TCP 坐标系 → 机械臂基坐标系（水平相机版本）"""
     phi = math.radians(tcp_phi_deg)
 
+    # 旋转矩阵：TCP → 基坐标系
+    # TCP X → 基坐标 -Y
+    # TCP Y → 基坐标 -Z
+    # TCP Z → 基坐标 X
     R_tcp_to_base = np.array([
-        [-math.sin(phi), 0, math.cos(phi)],
-        [ math.cos(phi), 0, math.sin(phi)],
-        [0,             -1, 0]
+        [-math.sin(phi), 0,  math.cos(phi)],   # X_base
+        [-math.cos(phi), 0, -math.sin(phi)],   # Y_base (修正：添加负号)
+        [0,             -1,  0]                # Z_base
     ])
 
     P_tcp = np.array([xt, yt, zt])