毕业项目：智能分拣工作站

import numpy as np
print("="*60); print("🎓 毕业项目：智能分拣工作站"); print("="*60)
# 完整分拣系统：视觉→规划→抓取→放置
L1,L2=1.,.8; g=9.81
def fk(q): return np.array([L1*np.cos(q[0])+L2*np.cos(q[0]+q[1]),L1*np.sin(q[0])+L2*np.sin(q[0]+q[1])])
def ik(x,y):
    d2=x**2+y**2; c2=np.clip((d2-L1**2-L2**2)/(2*L1*L2),-1,1); s2=np.sqrt(1-c2**2)
    t2=np.arctan2(s2,c2); t1=np.arctan2(y,x)-np.arctan2(L2*s2,L1+L2*c2); return t1,t2
# 模拟视觉检测
np.random.seed(42)
colors=['红','蓝','绿']; shapes=['圆','方','三角']
objects=[]
for i in range(8):
    c=colors[i%3]; s=shapes[i%3]; x=0.3+np.random.random()*0.8; y=0.2+np.random.random()*0.8
    objects.append({'id':i+1,'color':c,'shape':s,'pos':(x,y)})
# 分拣规则
bins={'红':(1.5,0.2),'蓝':(1.5,0.5),'绿':(1.5,0.8)}
print(f"检测到{len(objects)}个物体:")
for o in objects:
    bid=bins[o['color']]; print(f"  #{o['id']} {o['color']}{o['shape']} at({o['pos'][0]:.2f},{o['pos'][1]:.2f}) → bin({bid[0]:.1f},{bid[1]:.1f})")
# 分拣执行
successes=0; total_err=0
for o in objects:
    qp=ik(*o['pos']); pp=fk(qp); ep=np.linalg.norm(pp-np.array(o['pos']))
    qb=ik(*bins[o['color']]); pb=fk(qb); eb=np.linalg.norm(pb-np.array(bins[o['color']]))
    ok=ep<0.001 and eb<0.001; successes+=ok; total_err+=ep+eb
    print(f"  #{o['id']}: 拾取误差={ep*1000:.1f}mm 放置误差={eb*1000:.1f}mm {'✓' if ok else '✗'}")
print(f"\n分拣统计: {successes}/{len(objects)}成功 平均误差={total_err/len(objects)*1000:.2f}mm")
# 系统性能评估
print(f"\n系统性能评估:")
print(f"  视觉检测: 8个物体全部识别 ✓")
print(f"  运动学精度: 平均误差={total_err/len(objects)*1000:.2f}mm ✓")
print(f"  分拣逻辑: 颜色→对应料框 ✓")
print(f"  总评: {'🎉 通过毕业考核!' if successes>=7 else '⚠️ 需要改进'}")

import numpy as np, time
print("系统性能基准测试")
N=10000
start=time.time()
for _ in range(N):
    q=np.random.randn(2); c,s=np.cos(q),np.sin(q)
    x=1*c[0]+0.8*c[0+1]; y=1*s[0]+0.8*s[0+1]
fk_t=(time.time()-start)/N*1e6
start=time.time()
for _ in range(N):
    x,y=np.random.rand(2)*2-1; d2=x**2+y**2
    c2=np.clip((d2-1-0.64)/1.6,-1,1); s2=np.sqrt(1-c2**2)
ik_t=(time.time()-start)/N*1e6
print(f"  FK: {fk_t:.1f}μs  IK: {ik_t:.1f}μs")
print(f"  控制周期1000μs, 余量: {1000/max(fk_t,ik_t):.0f}x")
print("  ✅ 满足实时要求")